ROP http://roboticopenplatform.org/wiki/Main_Page MediaWiki 1.17.0 first-letter Media Special Talk User User talk ROP ROP talk File File talk MediaWiki MediaWiki talk Template Template talk Help Help talk Category Category talk Widget Widget talk 1 1 2011-10-20T11:34:40Z MediaWiki default '''MediaWiki has been successfully installed.''' Consult the [http://meta.wikimedia.org/wiki/Help:Contents User's Guide] for information on using the wiki software. == Getting started == * [http://www.mediawiki.org/wiki/Manual:Configuration_settings Configuration settings list] * [http://www.mediawiki.org/wiki/Manual:FAQ MediaWiki FAQ] * [https://lists.wikimedia.org/mailman/listinfo/mediawiki-announce MediaWiki release mailing list] 2 2011-10-24T14:00:50Z P.M.G. Metsemakers 2 Welcome '''MediaWiki has been successfully installed.''' Consult the [http://meta.wikimedia.org/wiki/Help:Contents User's Guide] for information on using the wiki software. ROP (Robot Open Platform) A.M.I.G.O. (Autonomous Mate for IntelliGent Operations) 3 2011-10-24T14:01:49Z P.M.G. Metsemakers 2 ROP (Robot Open Platform) A.M.I.G.O. (Autonomous Mate for IntelliGent Operations) 4 2011-10-24T14:03:30Z P.M.G. Metsemakers 2 '''Robot Open Platform''' ''A.M.I.G.O.'' Autonomous Mate for IntelliGent Operations 5 2011-10-24T14:05:21Z P.M.G. Metsemakers 2 '''Robot Open Platform''' ''A.M.I.G.O.'' Autonomous Mate for IntelliGent Operations 6 2011-10-24T14:18:51Z P.M.G. Metsemakers 2 ==Robot Open Platform== =A.M.I.G.O.= Autonomous Mate for IntelliGent Operations 7 2011-10-24T14:19:58Z P.M.G. Metsemakers 2 =Robot Open Platform= ===A.M.I.G.O.=== Autonomous Mate for IntelliGent Operations 8 2011-10-24T14:33:36Z P.M.G. Metsemakers 2 = Robot Open Platform = '''A.M.I.G.O.''' <br> [[General Information]] <br> [[Hardware]] <br> [[Software]] <br> 9 2011-10-25T14:07:35Z P.M.G. Metsemakers 2 /* Robot Open Platform */ <center> = Robot Open Platform = </center> <br> '''A.M.I.G.O.''' <br> * [[A.M.I.G.O. General Information|General Information]] <br> * [[A.M.I.G.O. Hardware|Hardware]] <br> * [[A.M.I.G.O. Software|Software]] <br> 13 2011-10-26T08:23:57Z P.M.G. Metsemakers 2 /* Robot Open Platform */ <center> = Robot Open Platform = </center> <br> '''AMIGO''' <br> * [[AMIGO General Information|General Information]] <br> * [[AMIGO Hardware|Hardware]] <br> * [[AMIGO Software|Software]] <br> 28 2011-10-26T13:41:04Z P.M.G. Metsemakers 2 /* Robot Open Platform */ <center> <center> = Robot Open Platform = </center> <br> = '''AMIGO''' = [[Image:amigo_small.jpg|300px|thumb|right|Figure 1:AMIGO]] * [[AMIGO General Information|General Information]] <br> * [[AMIGO Hardware|Hardware]] <br> * [[AMIGO Software|Software]] <br> 29 2011-10-26T13:41:15Z P.M.G. Metsemakers 2 <center> = Robot Open Platform = </center> <br> = '''AMIGO''' = [[Image:amigo_small.jpg|300px|thumb|right|Figure 1:AMIGO]] * [[AMIGO General Information|General Information]] <br> * [[AMIGO Hardware|Hardware]] <br> * [[AMIGO Software|Software]] <br> 31 2011-10-26T17:25:11Z 84.28.8.55 __TOC__ = [[AMIGO|'''AMIGO''']] = [[Image:amigo_small.jpg|300px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. * Author: Tech United * Parts: [[AMIGO Head|Head]] | [[AMIGO Upper Body|Upper Body]] | [[AMIGO Arms|Arms]] | [[AMIGO Lifting Mechanism|Lifting Mechanism]] | [[AMIGO Base|Base]] 33 2011-10-26T17:28:21Z 84.28.8.55 /* AMIGO */ __TOC__ = [[AMIGO|'''AMIGO''']] = [[Image:amigo_small.jpg|300px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. * Author: Tech United * Parts: [[AMIGO Head|Head]], [[AMIGO Upper Body|Upper Body]], [[AMIGO Arms|Arms]], [[AMIGO Lifting Mechanism|Lifting Mechanism]], [[AMIGO Base|Base]] 43 2011-11-09T08:44:31Z P.M.G. Metsemakers 2 /* AMIGO */ __TOC__ = [[AMIGO|'''AMIGO''']] = [[Image:amigo_small.jpg|300px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. * Author: Tech United * Parts: [[AMIGO Head|Head]], [[AMIGO Upper Body|Upper Body]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] 50 2011-11-09T10:06:50Z P.M.G. Metsemakers 2 /* AMIGO */ __TOC__ = [[AMIGO|'''AMIGO''']] = [[Image:amigo_small.jpg|300px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. * Author: Tech United * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] 57 2011-11-09T10:31:39Z P.M.G. Metsemakers 2 /* AMIGO */ __TOC__ = [[AMIGO|'''AMIGO''']] = [[Image:Amigo_BIG.jpg|300px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. * Author: Tech United * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] 58 2011-11-09T10:32:09Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. * Author: Tech United * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] 86 2011-11-21T12:13:36Z P.M.G. Metsemakers 2 /* AMIGO */ __TOC__ = [[AMIGO|'''AMIGO''']] = [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: Tech United * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] 87 2011-11-21T12:14:07Z P.M.G. Metsemakers 2 /* AMIGO */ __TOC__ = [[AMIGO|'''AMIGO''']] = [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] 100 2011-11-21T13:10:06Z P.M.G. Metsemakers 2 __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] 151 2011-11-23T12:45:38Z P.M.G. Metsemakers 2 __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = [[Image:Amigo_BIG.jpg|200px|thumb|right|align|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] <br><br><br><br><br><br><br><br><br><br><br><br><br><br> = [[Turle|'''Turtle''']] = [[Image:Turtle_BIG.jpg|200px|thumb|right|align|Figure 2:Turtle]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] 152 2011-11-23T12:47:54Z P.M.G. Metsemakers 2 /* Turtle */ __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = [[Image:Amigo_BIG.jpg|200px|thumb|right|align|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] <br><br><br><br><br><br><br><br><br><br><br><br><br><br> = [[Turle|'''Turtle''']] = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. [[Image:Turtle_BIG.jpg|200px|thumb|right|align|Figure 2:Turtle]] * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] 153 2011-11-23T12:48:20Z P.M.G. Metsemakers 2 /* AMIGO */ __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. [[Image:Amigo_BIG.jpg|200px|thumb|right|align|Figure 1:AMIGO]] * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] <br><br><br><br><br><br><br><br><br><br><br><br><br><br> = [[Turle|'''Turtle''']] = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. [[Image:Turtle_BIG.jpg|200px|thumb|right|align|Figure 2:Turtle]] * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] 154 2011-11-23T12:51:57Z P.M.G. Metsemakers 2 __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] <br><br><br><br><br><br><br><br><br><br><br><br><br><br> = [[Turle|'''Turtle''']] = Turtles are the football robots that compete in the Mid-Size League for [http://www.tue.nl/en University of Technology Eindhoven]. [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] * Author: [http://www.techunited.nl/en Tech United] * Parts: [Under Construction] 155 2011-11-23T12:52:09Z P.M.G. Metsemakers 2 /* Turtle */ __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] <br><br><br><br><br><br><br><br><br><br><br><br><br><br> = [[Turle|'''Turtle''']] = Turtles are the football robots that compete in the Mid-Size League for [http://www.tue.nl/en University of Technology Eindhoven]. [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] * Author: [http://www.techunited.nl/en Tech United] * Parts: [[Under Construction]] 156 2011-11-23T12:52:59Z P.M.G. Metsemakers 2 __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] <br><br><br><br><br><br><br><br><br><br><br><br><br><br> = [[Turle|'''Turtle''']] = [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] Turtles are the football robots that compete in the Mid-Size League for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[Under Construction]] 157 2011-11-23T12:53:39Z P.M.G. Metsemakers 2 /* Turtle */ __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] <br><br><br><br><br><br><br><br><br><br><br><br><br><br> = [[Turle|'''Turtle''']] = [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] Turtles are the football robots that compete in the Mid-Size League for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[Coming Soon]] 158 2011-11-23T13:06:36Z P.M.G. Metsemakers 2 __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[Turle|'''Turtle''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] Turtles are the football robots that compete in the Mid-Size League for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[Coming Soon]] |} 164 2011-11-23T13:26:14Z P.M.G. Metsemakers 2 /* AMIGO */ __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[Turle|'''Turtle''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] Turtles are the football robots that compete in the Mid-Size League for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[Coming Soon]] |} 194 2011-11-23T22:41:44Z P.M.G. Metsemakers 2 /* Turtle */ __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[Turle|'''Turtle''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] Turtles are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[Coming Soon]] |} 207 2011-11-24T11:31:12Z P.M.G. Metsemakers 2 __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[Turle|'''Turtle''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] Turtles are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * License: * Parts: [[Coming Soon]] |} 208 2011-11-24T11:31:59Z P.M.G. Metsemakers 2 /* Turtle */ __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[Turle|'''Turtle''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] Turtles are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * License: * Parts: [[Coming Soon]] |} 209 2011-11-24T11:32:45Z P.M.G. Metsemakers 2 /* Turtle */ __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[Turle|'''Turtle''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] Turtles are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Parts: [[Coming Soon]] |} 218 2011-11-24T12:07:07Z P.M.G. Metsemakers 2 /* Turtle */ __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] Turtles are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Parts: [[Coming Soon]] |} 219 2011-11-24T12:07:19Z P.M.G. Metsemakers 2 /* TURTLE */ __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Parts: [[Coming Soon]] |} 285 2011-11-28T12:26:54Z 131.155.245.152 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Parts: [[Coming Soon]] |} 296 2011-11-28T12:55:32Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Parts: [[Coming Soon]] |} 313 2011-11-29T09:52:34Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Parts: [[Coming Soon]] |} 314 2011-11-29T09:52:47Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Parts: [[Coming Soon]] |} 350 2011-11-30T18:53:23Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 * Parts: [[Coming Soon]] |} 390 2011-12-02T10:15:34Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[Coming Soon]] |} 417 2011-12-06T16:06:36Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[Coming Soon]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] TurtleBot is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://freedomdefined.org/OSHW OSHW] * Parts: [http://turtlebot.com/build/create.htm http://turtlebot.com/build/create.html] |} 420 2011-12-06T16:28:19Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[Coming Soon]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] TurtleBot is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://turtlebot.com/build/create.htm http://turtlebot.com/build/create.html] |} 422 2011-12-06T16:38:38Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[Coming Soon]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] TurtleBot is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} 430 2011-12-06T19:22:15Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[Coming Soon]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} 443 2011-12-09T10:33:42Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[Coming Soon]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} 533 2012-02-02T21:26:11Z Stephane.magnenat 33 Added Thymio II __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[Coming Soon]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [http://aseba.wikidot.com/en:thymio '''Thymio II'''] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Author: [http://mobots.epfl.ch/ EPFL-Mobots] and [http://www.ecal.ch ECAL] and [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} 535 2012-02-02T21:30:06Z Stephane.magnenat 33 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[Coming Soon]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [http://aseba.wikidot.com/en:thymio '''Thymio II'''] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Author: [http://mobots.epfl.ch/ EPFL-Mobots] and [http://www.ecal.ch ECAL] and [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} 537 2012-02-03T09:01:13Z P.M.G. Metsemakers 2 /* Thymio II */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[Coming Soon]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Author: [http://mobots.epfl.ch/ EPFL-Mobots] and [http://www.ecal.ch ECAL] and [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} 544 2012-02-03T09:28:33Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[Coming Soon]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Author: [http://mobots.epfl.ch/ EPFL-Mobots] and [http://www.ecal.ch ECAL] and [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} 588 2012-09-11T18:34:25Z J Bos 45 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[Coming Soon]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Author: [http://mobots.epfl.ch/ EPFL-Mobots] and [http://www.ecal.ch ECAL] and [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} 681 2012-09-26T12:44:22Z J Bos 45 /* TURTLE */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Author: [http://mobots.epfl.ch/ EPFL-Mobots] and [http://www.ecal.ch ECAL] and [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} 682 2012-09-26T12:44:56Z J Bos 45 /* TURTLE */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Author: [http://mobots.epfl.ch/ EPFL-Mobots] and [http://www.ecal.ch ECAL] and [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} 705 2012-12-04T10:40:46Z Inf6UB 47 __TOC__ = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 1: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Author: [http://mobots.epfl.ch/ EPFL-Mobots] and [http://www.ecal.ch ECAL] and [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} 707 2012-12-07T10:52:03Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Author: [http://mobots.epfl.ch/ EPFL-Mobots] and [http://www.ecal.ch ECAL] and [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} 731 2013-02-26T08:29:48Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} = [[TURTLE-5K|'''TURTLE-5K''']] = {| style="width: 100%" | [[Image:TURTLE-5K_BIG.jpg|200px|thumb|right|Figure 1: TURTLE-5K]] A remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} 732 2013-02-26T08:30:11Z P.M.G. Metsemakers 2 /* TURTLE-5K */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} = [[TURTLE-5K|'''TURTLE-5K''']] = {| style="width: 100%" | [[Image:TURTLE-5K_BIG.jpg|200px|thumb|right|Figure 6: TURTLE-5K]] A remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} 734 2013-02-26T08:31:35Z P.M.G. Metsemakers 2 /* TURTLE-5K */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} = [[TURTLE-5K|'''TURTLE-5K''']] = {| style="width: 100%" | [[Image:TURTLE-5K_BIG.jpg|200px|thumb|right|Figure 6: TURTLE-5K]] The [[TURTLE-5K|TURTLE-5K]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} 752 2013-03-26T13:59:22Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K_BIG.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} 769 2013-12-31T11:51:49Z Tmhafkamp 53 /* TurtleBot */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K_BIG.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} 775 2013-12-31T14:12:53Z Tmhafkamp 53 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[AMIGO2|'''AMIGO 2''']] = = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K_BIG.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} 778 2013-12-31T14:23:27Z Tmhafkamp 53 /* AMIGO 2 */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[AMIGO2|'''AMIGO 2''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: AMIGO 2 standing, front]] [[AMIGO2|AMIGO 2]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[AMIGO2|AMIGO 2]] is currently under development. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K_BIG.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} 779 2013-12-31T14:24:04Z Tmhafkamp 53 /* AMIGO 2 */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[AMIGO2|'''AMIGO 2''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: AMIGO 2 standing, front]] [[AMIGO2|AMIGO 2]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[AMIGO2|AMIGO 2]] is currently under development. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K_BIG.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} 780 2013-12-31T14:29:26Z Tmhafkamp 53 /* AMIGO 2 */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[AMIGO2|'''AMIGO 2''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: AMIGO 2 rendering]] [[AMIGO2|AMIGO 2]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[AMIGO2|AMIGO 2]] is currently under development. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K_BIG.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} 784 2013-12-31T14:46:09Z Tmhafkamp 53 /* AMIGO 2 */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[AMIGO2|'''AMIGO 2''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: AMIGO 2 rendering]] [[AMIGO2|AMIGO 2]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[AMIGO2|AMIGO 2]] is currently under development. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K_BIG.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} 869 2014-06-24T13:31:15Z Tmhafkamp 53 /* SERGIO */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[SERGIO|'''SERGIO''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: SERGIO rendering]] [[SERGIO|SERGIO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[SERGIO|SERGIO]] is currently under development. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K_BIG.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} 877 2014-07-09T07:49:14Z Tmhafkamp 53 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[SERGIO|'''SERGIO''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: SERGIO rendering]] [[SERGIO|SERGIO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[SERGIO|SERGIO]] is currently under development. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K_BIG.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} 956 2014-07-15T11:50:15Z Tmhafkamp 53 /* TURTLE-5k */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[SERGIO|'''SERGIO''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: SERGIO rendering]] [[SERGIO|SERGIO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[SERGIO|SERGIO]] is currently under development. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} 981 2014-07-21T13:37:54Z Tmhafkamp 53 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[SERGIO|'''SERGIO''']] = {| style="width: 100%"f | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: SERGIO rendering]] [[SERGIO|SERGIO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[SERGIO|SERGIO]] is currently under development. * Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, , [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} 982 2014-07-21T13:41:14Z Tmhafkamp 53 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[SERGIO|'''SERGIO''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: SERGIO rendering]] [[SERGIO|SERGIO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[SERGIO|SERGIO]] is currently under development. * Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} 986 2014-07-21T13:44:08Z Tmhafkamp 53 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[SERGIO|'''SERGIO''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: SERGIO rendering]] [[SERGIO|SERGIO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[SERGIO|SERGIO]] is currently under development. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} 991 2014-07-21T13:49:18Z Tmhafkamp 53 /* TURTLE-5k */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[SERGIO|'''SERGIO''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: SERGIO rendering]] [[SERGIO|SERGIO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[SERGIO|SERGIO]] is currently under development. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ repository] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} 1004 2014-08-26T13:35:48Z Tmhafkamp 53 /* TURTLE */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[SERGIO|'''SERGIO''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: SERGIO rendering]] [[SERGIO|SERGIO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[SERGIO|SERGIO]] is currently under development. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]], Goalkeeper |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ repository] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} 1005 2014-08-26T13:36:52Z Tmhafkamp 53 /* TURTLE */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[SERGIO|'''SERGIO''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: SERGIO rendering]] [[SERGIO|SERGIO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[SERGIO|SERGIO]] is currently under development. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]], [[TURTLE Goalkeeper|Goalkeeper]] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ repository] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} 1006 2014-08-26T13:37:02Z Tmhafkamp 53 /* TURTLE */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[SERGIO|'''SERGIO''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: SERGIO rendering]] [[SERGIO|SERGIO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[SERGIO|SERGIO]] is currently under development. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] , [[TURTLE Goalkeeper|Goalkeeper]] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ repository] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} 1032 2020-03-18T08:21:25Z Whoutman 74 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[SERGIO|'''SERGIO''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: SERGIO rendering]] [[SERGIO|SERGIO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[SERGIO|SERGIO]] is currently under development. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [https://msl.robocup.org/ RoboCup Middle Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] , [[TURTLE Goalkeeper|Goalkeeper]] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ repository] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} 1033 2020-03-25T07:24:07Z Whoutman 74 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[SERGIO|'''SERGIO''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: SERGIO rendering]] [[SERGIO|SERGIO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[SERGIO|SERGIO]] is currently under development. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [https://msl.robocup.org/ RoboCup Middle Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] , [[TURTLE Goalkeeper|Goalkeeper]], [[TURTLE 8-Wheeled Base|8-Wheeled Base]] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ repository] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} 9 34 2011-10-26T17:39:04Z P.M.G. Metsemakers 2 Created page with "AMIGO: [[AMIGO Head|Head]] | [[AMIGO Upper Body|Upper Body]] | [[AMIGO Arms|Arms]] | [[AMIGO Lifting Mechanism|Lifting Mechanism]] | [[AMIGO Base|Base]] {| style="width:300px" b..." AMIGO: [[AMIGO Head|Head]] | [[AMIGO Upper Body|Upper Body]] | [[AMIGO Arms|Arms]] | [[AMIGO Lifting Mechanism|Lifting Mechanism]] | [[AMIGO Base|Base]] {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Documentation''' |- | style="background:white; color:black;" align="right" | left |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} = Robot Summary = AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] __TOC__ [[Image:amigo_big.jpg|500px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. <br> The RoboCup@Home league aims to develop service and assistive robot technology with high relevance for future personal domestic applications. It is the largest international annual competition for autonomous service robots and is part of the RoboCup initiative. A set of benchmark tests is used to evaluate the robots’ abilities and performance in a realistic non-standardized home environment setting. Focus lies on the following domains: Human-Robot-Interaction and Cooperation, Navigation and Mapping in dynamic environments, Computer Vision and Object Recognition under natural light conditions, Object Manipulation, Adaptive Behaviors, Behavior Integration, Ambient Intelligence, Standardization and System Integration. 35 2011-10-26T17:40:21Z P.M.G. Metsemakers 2 AMIGO: [[AMIGO Head|Head]] | [[AMIGO Upper Body|Upper Body]] | [[AMIGO Arms|Arms]] | [[AMIGO Lifting Mechanism|Lifting Mechanism]] | [[AMIGO Base|Base]] {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} = Robot Summary = AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] __TOC__ [[Image:amigo_big.jpg|500px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. <br> The RoboCup@Home league aims to develop service and assistive robot technology with high relevance for future personal domestic applications. It is the largest international annual competition for autonomous service robots and is part of the RoboCup initiative. A set of benchmark tests is used to evaluate the robots’ abilities and performance in a realistic non-standardized home environment setting. Focus lies on the following domains: Human-Robot-Interaction and Cooperation, Navigation and Mapping in dynamic environments, Computer Vision and Object Recognition under natural light conditions, Object Manipulation, Adaptive Behaviors, Behavior Integration, Ambient Intelligence, Standardization and System Integration. 36 2011-10-26T17:41:48Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} AMIGO: [[AMIGO Head|Head]] | [[AMIGO Upper Body|Upper Body]] | [[AMIGO Arms|Arms]] | [[AMIGO Lifting Mechanism|Lifting Mechanism]] | [[AMIGO Base|Base]] = Robot Summary = AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] __TOC__ [[Image:amigo_big.jpg|500px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. <br> The RoboCup@Home league aims to develop service and assistive robot technology with high relevance for future personal domestic applications. It is the largest international annual competition for autonomous service robots and is part of the RoboCup initiative. A set of benchmark tests is used to evaluate the robots’ abilities and performance in a realistic non-standardized home environment setting. Focus lies on the following domains: Human-Robot-Interaction and Cooperation, Navigation and Mapping in dynamic environments, Computer Vision and Object Recognition under natural light conditions, Object Manipulation, Adaptive Behaviors, Behavior Integration, Ambient Intelligence, Standardization and System Integration. 59 2011-11-09T10:33:22Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} AMIGO: [[AMIGO Head|Head]] | [[AMIGO Upper Body|Upper Body]] | [[AMIGO Arms|Arms]] | [[AMIGO Lifting Mechanism|Lifting Mechanism]] | [[AMIGO Base|Base]] = Robot Summary = AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] __TOC__ [[Image:Amigo_BIG.jpg|300px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. <br> The RoboCup@Home league aims to develop service and assistive robot technology with high relevance for future personal domestic applications. It is the largest international annual competition for autonomous service robots and is part of the RoboCup initiative. A set of benchmark tests is used to evaluate the robots’ abilities and performance in a realistic non-standardized home environment setting. Focus lies on the following domains: Human-Robot-Interaction and Cooperation, Navigation and Mapping in dynamic environments, Computer Vision and Object Recognition under natural light conditions, Object Manipulation, Adaptive Behaviors, Behavior Integration, Ambient Intelligence, Standardization and System Integration. 60 2011-11-09T10:43:29Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} AMIGO: [[AMIGO Head|Head]] | [[AMIGO Upper Body|Upper Body]] | [[AMIGO Arms|Arms]] | [[AMIGO Lifting Mechanism|Lifting Mechanism]] | [[AMIGO Base|Base]] = Robot Summary = AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. <br> The RoboCup@Home league aims to develop service and assistive robot technology with high relevance for future personal domestic applications. It is the largest international annual competition for autonomous service robots and is part of the RoboCup initiative. A set of benchmark tests is used to evaluate the robots’ abilities and performance in a realistic non-standardized home environment setting. Focus lies on the following domains: Human-Robot-Interaction and Cooperation, Navigation and Mapping in dynamic environments, Computer Vision and Object Recognition under natural light conditions, Object Manipulation, Adaptive Behaviors, Behavior Integration, Ambient Intelligence, Standardization and System Integration. 62 2011-11-09T11:00:01Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] = Robot Summary = AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. <br> The RoboCup@Home league aims to develop service and assistive robot technology with high relevance for future personal domestic applications. It is the largest international annual competition for autonomous service robots and is part of the RoboCup initiative. A set of benchmark tests is used to evaluate the robots’ abilities and performance in a realistic non-standardized home environment setting. Focus lies on the following domains: Human-Robot-Interaction and Cooperation, Navigation and Mapping in dynamic environments, Computer Vision and Object Recognition under natural light conditions, Object Manipulation, Adaptive Behaviors, Behavior Integration, Ambient Intelligence, Standardization and System Integration. 66 2011-11-21T10:31:52Z P.M.G. Metsemakers 2 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] = Robot Summary = AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|left|Figure 1:AMIGO]] [[Image:Amigo ASSEMBLY.jpg|1000px|thumb|right|Figure 2:CAD model of AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. <br> The RoboCup@Home league aims to develop service and assistive robot technology with high relevance for future personal domestic applications. It is the largest international annual competition for autonomous service robots and is part of the RoboCup initiative. A set of benchmark tests is used to evaluate the robots’ abilities and performance in a realistic non-standardized home environment setting. Focus lies on the following domains: Human-Robot-Interaction and Cooperation, Navigation and Mapping in dynamic environments, Computer Vision and Object Recognition under natural light conditions, Object Manipulation, Adaptive Behaviors, Behavior Integration, Ambient Intelligence, Standardization and System Integration. 67 2011-11-21T10:37:23Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] = Robot Summary = AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. * Author: Tech United * Repository: [Link] * Software: [www.ros.org www.ros.org] __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the [http://www.ai.rug.nl/robocupathome RoboCup@Home league]. <br> Figure 2 shows a picture of the CAD model of AMIGO. [[Image:Amigo ASSEMBLY.jpg|1000px|thumb|center|Figure 2:CAD model of AMIGO]] 68 2011-11-21T10:37:52Z P.M.G. Metsemakers 2 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] = Robot Summary = AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the [http://www.ai.rug.nl/robocupathome RoboCup@Home league]. <br> Figure 2 shows a picture of the CAD model of AMIGO. [[Image:Amigo ASSEMBLY.jpg|1000px|thumb|center|Figure 2:CAD model of AMIGO]] 69 2011-11-21T10:43:07Z P.M.G. Metsemakers 2 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] = Robot Summary = AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven] which participates in the [http://www.ai.rug.nl/robocupathome RoboCup@Home league] for [http://www.techunited.nl/en Tech United]. Figure 2 shows a picture of the CAD model of AMIGO. [[Image:Amigo ASSEMBLY.jpg|1000px|thumb|center|Figure 2:CAD model of AMIGO]] 73 2011-11-21T10:47:51Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] = Robot Summary = AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven] which participates in the [http://www.ai.rug.nl/robocupathome RoboCup@Home league] for [http://www.techunited.nl/en Tech United]. Figure 2 shows a picture of the CAD model of AMIGO. [[Image:Amigo ASSEMBLY.jpg|1000px|thumb|center|Figure 2:CAD model of AMIGO]] 74 2011-11-21T10:48:55Z P.M.G. Metsemakers 2 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] = Robot Summary = AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven] which participates in the [http://www.ai.rug.nl/robocupathome RoboCup@Home league] for [http://www.techunited.nl/en Tech United]. Figure 2 shows a picture of the CAD model of AMIGO. [[Image:Amigo ASSEMBLY.jpg|1000px|thumb|center|Figure 2:CAD model of AMIGO]] 82 2011-11-21T11:02:28Z P.M.G. Metsemakers 2 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] = Robot Summary = AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the [http://www.ai.rug.nl/robocupathome RoboCup@Home league]. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven] which participates in the [http://www.ai.rug.nl/robocupathome RoboCup@Home league] for [http://www.techunited.nl/en Tech United]. Figure 2 shows a picture of the CAD model of AMIGO. [[Image:Amigo ASSEMBLY.jpg|1000px|thumb|center|Figure 2:CAD model of AMIGO]] 91 2011-11-21T12:48:46Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.ai.rug.nl/robocupathome RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. Figure 2 shows a picture of the CAD model of AMIGO. [[Image:Amigo ASSEMBLY.jpg|1000px|thumb|center|Figure 2:CAD model of AMIGO]] 98 2011-11-21T13:03:25Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.ai.rug.nl/robocupathome RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. [[Image:Amigo ASSEMBLY.jpg|1000px|thumb|center|Figure 2:CAD model of AMIGO]] 110 2011-11-21T13:33:04Z P.M.G. Metsemakers 2 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.ai.rug.nl/robocupathome RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. [[Image:Amigo ASSEMBLY.jpg|800px|thumb|center|Figure 2:CAD model of AMIGO]] 111 2011-11-21T13:33:16Z P.M.G. Metsemakers 2 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.ai.rug.nl/robocupathome RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. [[Image:Amigo ASSEMBLY.jpg|1000px|thumb|center|Figure 2:CAD model of AMIGO]] 131 2011-11-23T09:31:28Z P.M.G. Metsemakers 2 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.ai.rug.nl/robocupathome RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|800px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|800px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} 132 2011-11-23T09:32:18Z P.M.G. Metsemakers 2 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.ai.rug.nl/robocupathome RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} 142 2011-11-23T10:54:55Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.ai.rug.nl/robocupathome RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 143 2011-11-23T10:59:39Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.ai.rug.nl/robocupathome RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 145 2011-11-23T12:02:00Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.ai.rug.nl/robocupathome RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 161 2011-11-23T13:25:06Z P.M.G. Metsemakers 2 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.ai.rug.nl/robocupathome RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 167 2011-11-23T13:29:12Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/en Tech United] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.ai.rug.nl/robocupathome RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 172 2011-11-23T13:30:41Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/en Tech United] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] _TOC_ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.ai.rug.nl/robocupathome RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 173 2011-11-23T13:31:24Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/en Tech United] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.ai.rug.nl/robocupathome RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 174 2011-11-23T13:31:52Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/en Tech United] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.ai.rug.nl/robocupathome RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 192 2011-11-23T22:38:31Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/en Tech United] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 193 2011-11-23T22:39:09Z P.M.G. Metsemakers 2 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/en Tech United] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 195 2011-11-24T08:47:38Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/en Tech United] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 206 2011-11-24T10:43:47Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/en Tech United] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 210 2011-11-24T11:33:08Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | ROP@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 211 2011-11-24T11:33:34Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | ROP@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 212 2011-11-24T11:40:17Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | ROP@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 213 2011-11-24T11:40:59Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 255 2011-11-24T15:32:19Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Inventor |- | style="background:white; color:black;" align="left" | STEP |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 265 2011-11-25T11:46:21Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Inventor |- | style="background:white; color:black;" align="left" | STEP |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 266 2011-11-25T11:48:09Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 277 2011-11-25T13:11:00Z P.M.G. Metsemakers 2 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) to grab and manipulate with it surroundings; * a torso containing a spindle which enables AMIGO to move its upper body up and down and; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 278 2011-11-25T13:11:17Z P.M.G. Metsemakers 2 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) to grab and manipulate with it surroundings; * a torso containing a spindle which enables AMIGO to move its upper body up and down and; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 284 2011-11-25T15:03:32Z P.M.G. Metsemakers 2 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 287 2011-11-28T12:52:42Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 306 2011-11-29T09:33:57Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1:AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|450px|thumb|center|Figure 2:CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 315 2011-11-29T09:53:17Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|450px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|450px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 357 2011-11-30T18:55:36Z P.M.G. Metsemakers 2 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 358 2011-11-30T19:10:55Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 359 2011-11-30T20:13:44Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: CERN OHL v.1.1 {| cellpadding="2" style="border: 1px solid darkgrey; margin-left: 4em;" |- |- border="0" | Copyright Technische Universiteit Eindhoven 2011. <br> This documentation describes Open Hardware and is licensed under the <br> CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the <br> CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed <br> WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF <br> MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A <br> PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable <br> conditions <br> |} * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 365 2011-11-30T20:19:32Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: CERN OHL v.1.1 {| cellpadding="2" style="border: 1px solid darkgrey; margin-left: 4em;" |- |- border="0" | This documentation describes Open Hardware and is licensed under the <br> CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the <br> CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed <br> WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF <br> MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A <br> PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable <br> conditions <br> |} * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 369 2011-12-01T08:46:11Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: CERN OHL v.1.1 {| cellpadding="2" style="border: 1px solid darkgrey; margin-left: 4em;" |- |- border="0" | Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the <br> CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the <br> CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed <br> WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF <br> MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A <br> PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable <br> conditions <br> |} * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 378 2011-12-01T09:20:30Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ {| cellpadding="2" style="border: 1px solid darkgrey; margin-left: 4em;" |- |- border="0" | Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the <br> CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the <br> CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed <br> WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF <br> MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A <br> PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable <br> conditions <br> |} = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> 393 2011-12-02T10:16:27Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 394 2011-12-02T10:16:45Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 402 2011-12-02T14:38:13Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 403 2011-12-02T14:38:39Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 404 2011-12-02T14:39:00Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 444 2011-12-09T10:34:05Z P.M.G. Metsemakers 2 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 445 2011-12-09T10:34:58Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 470 2011-12-19T12:11:48Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = ''(Coming Soon)'' = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 475 2011-12-21T09:50:50Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1,473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Construction === * Dimensions (HxDxW): 100-135 x 65 x 65 cm * Weight: +/- 65 kg * Construction material: === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180mm * Distance between shoulder joints: 219mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension: 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Connection === Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5mm mini-jack output ''Out'' <br> * 1x JBL GTO328 === LRF === Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton / Java === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Spine * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 12:1 * 4x Maxon encoder: HED 5540 Motors: Lifting mechanism - Maxon RE35 24 V - Maxon Planetary gearhead GP 32A 4.8:1 - Maxon Encoder: HEDS 5540 - Maxon Brake AB 28, 24 VDC Motors: Head - 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 477 2011-12-21T10:36:22Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1,473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Construction === * Dimensions (HxDxW): 100-135 x 65 x 65 cm * Weight: +/- 65 kg === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180mm * Distance between shoulder joints: 219mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension: 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Connection === Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5mm mini-jack output ''Out'' <br> * 1x JBL GTO328 === LRF === Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton / Java === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Spine * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 12:1 * 4x Maxon encoder: HED 5540 Motors: Lifting mechanism - Maxon RE35 24 V - Maxon Planetary gearhead GP 32A 4.8:1 - Maxon Encoder: HEDS 5540 - Maxon Brake AB 28, 24 VDC Motors: Head - 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 479 2011-12-21T10:49:08Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1,473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Construction === * Dimensions (HxDxW): 100-135 x 65 x 65 cm * Weight: +/- 65 kg === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180mm * Distance between shoulder joints: 219mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension: 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Connection === Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5mm mini-jack output ''Out'' <br> * 1x JBL GTO328 === LRF === Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Spine * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 12:1 * 4x Maxon encoder: HED 5540 Motors: Lifting mechanism - Maxon RE35 24 V - Maxon Planetary gearhead GP 32A 4.8:1 - Maxon Encoder: HEDS 5540 - Maxon Brake AB 28, 24 VDC Motors: Head - 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 486 2011-12-21T11:04:11Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1,473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Construction === * Dimensions (HxDxW): 100-135 x 65 x 65 cm * Weight: +/- 65 kg === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180mm * Distance between shoulder joints: 219mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension: 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Connection === Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5mm mini-jack output ''Out'' <br> * 1x JBL GTO328 === LRF === Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Lifting mechanism * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 12:1 * 4x Maxon encoder: HED 5540 Motors: Lifting mechanism - Maxon RE35 24 V - Maxon Planetary gearhead GP 32A 4.8:1 - Maxon Encoder: HEDS 5540 - Maxon Brake AB 28, 24 VDC Motors: Head - 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 488 2011-12-21T11:52:34Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1,473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Construction === * Dimensions (HxDxW): 100-135 x 65 x 65 cm * Weight: +/- 65 kg === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180mm * Distance between shoulder joints: 219mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension: 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Connection === Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5mm mini-jack output ''Out'' <br> * 1x JBL GTO328 === LRF === Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Lifting mechanism * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 12:1 * 4x Maxon encoder: HED 5540 Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC Head * 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 490 2011-12-21T12:12:24Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Construction === * Dimensions (HxDxW): 100-135 x 65 x 65 cm * Weight: +/- 65 kg === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1,473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180mm * Distance between shoulder joints: 219mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension: 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Connection === Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5mm mini-jack output ''Out'' <br> * 1x JBL GTO328 === LRF === Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Lifting mechanism * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 12:1 * 4x Maxon encoder: HED 5540 Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC Head * 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 491 2011-12-21T12:13:22Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Construction === * Dimensions: 100-135 x 65 x 65 cm * Weight: +/- 65 kg === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1,473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180mm * Distance between shoulder joints: 219mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension: 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Connection === Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5mm mini-jack output ''Out'' <br> * 1x JBL GTO328 === LRF === Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Lifting mechanism * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 12:1 * 4x Maxon encoder: HED 5540 Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC Head * 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 492 2011-12-21T12:16:04Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Construction === * Dimensions (HxWxD): 100-135 x 65 x 65 cm * Weight: +/- 65 kg === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1,473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180mm * Distance between shoulder joints: 219mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension (HxWxD): 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Connection === Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5mm mini-jack output ''Out'' <br> * 1x JBL GTO328 === LRF === Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Lifting mechanism * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 12:1 * 4x Maxon encoder: HED 5540 Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC Head * 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 494 2011-12-21T12:18:58Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Construction === * Dimensions (HxWxD): 100-135 x 65 x 65 cm * Weight: +/- 65 kg === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1,473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension (HxWxD): 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Connection === Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5mm mini-jack output ''Out'' <br> * 1x JBL GTO328 === LRF === Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180mm * Distance between shoulder joints: 219mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Lifting mechanism * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 12:1 * 4x Maxon encoder: HED 5540 Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC Head * 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 508 2012-01-11T12:10:51Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Construction === * Dimensions (HxWxD): 100-135 x 65 x 65 cm * Weight: +/- 80 kg === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1.473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension (HxWxD): 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5 mm mini-jack output ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180 mm * Distance between shoulder joints: 219 mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton / Java / Lisp === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Lifting mechanism * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 12:1 * 4x Maxon encoder: HED 5540 Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC Head * 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 509 2012-01-11T12:11:33Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Construction === * Dimensions (HxWxD): 100-135 x 65 x 65 cm * Weight: +/- 80 kg === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1.473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension (HxWxD): 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5 mm mini-jack output ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180 mm * Distance between shoulder joints: 219 mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton / Java / Lisp === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Lifting mechanism * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 12:1 * 4x Maxon encoder: HED 5540 Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC Head * 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 522 2012-01-24T13:25:48Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' __TOC__ [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Construction === * Dimensions (HxWxD): 100-135 x 65 x 65 cm * Weight: +/- 80 kg === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1.473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension (HxWxD): 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5 mm mini-jack output ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180 mm * Distance between shoulder joints: 219 mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton / Java / Lisp === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Lifting mechanism * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 43:1 * 4x Maxon encoder: HED 5540 Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC Head * 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 524 2012-01-27T08:39:26Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Construction === * Dimensions (HxWxD): 100-135 x 65 x 65 cm * Weight: +/- 80 kg === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1.473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension (HxWxD): 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5 mm mini-jack output ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180 mm * Distance between shoulder joints: 219 mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton / Java / Lisp === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Lifting mechanism * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 43:1 * 4x Maxon encoder: HED 5540 Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC Head * 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 525 2012-01-27T08:47:58Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Construction === * Dimensions (HxWxD): 100-135 x 65 x 65 cm * Weight: +/- 80 kg === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1.473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension (HxWxD): 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5 mm mini-jack output ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180 mm * Distance between shoulder joints: 219 mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton / Java / Lisp === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Lifting mechanism * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 43:1 * 4x Maxon encoder: HED 5540 Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC Head * 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 563 2012-04-16T21:10:12Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Construction === * Dimensions (HxWxD): 100-135 x 65 x 65 cm * Weight: +/- 80 kg === Electrical === 4x Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1.473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension (HxWxD): 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5 mm mini-jack output ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180 mm * Distance between shoulder joints: 219 mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton / Java / Lisp === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Lifting mechanism * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 43:1 * 4x Maxon encoder: HED 5540 Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC Head * 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 653 2012-09-19T07:33:19Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ DPF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Construction === * Dimensions (HxWxD): 100-135 x 65 x 65 cm * Weight: +/- 80 kg === Electrical === 4x Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1.473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension (HxWxD): 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5 mm mini-jack output ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180 mm * Distance between shoulder joints: 219 mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton / Java / Lisp === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Lifting mechanism * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 43:1 * 4x Maxon encoder: HED 5540 Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC Head * 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 668 2012-09-25T12:19:12Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * an head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Construction === * Dimensions (HxWxD): 100-135 x 65 x 65 cm * Weight: +/- 80 kg === Electrical === 4x Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1.473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension (HxWxD): 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5 mm mini-jack output ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180 mm * Distance between shoulder joints: 219 mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton / Java / Lisp === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Lifting mechanism * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 43:1 * 4x Maxon encoder: HED 5540 Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC Head * 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 708 2012-12-10T13:35:21Z P.M.G. Metsemakers 2 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * a head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Construction === * Dimensions (HxWxD): 100-135 x 65 x 65 cm * Weight: +/- 80 kg === Electrical === 4x Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1.473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension (HxWxD): 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5 mm mini-jack output ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180 mm * Distance between shoulder joints: 219 mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton / Java / Lisp === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Lifting mechanism * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 43:1 * 4x Maxon encoder: HED 5540 Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC Head * 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 709 2012-12-17T09:23:16Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [[http://www.ros.org/wiki/Robots/AMIGO|http://www.ros.org/wiki/Robots/AMIGO]] [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * a head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Construction === * Dimensions (HxWxD): 100-135 x 65 x 65 cm * Weight: +/- 80 kg === Electrical === 4x Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1.473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension (HxWxD): 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5 mm mini-jack output ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180 mm * Distance between shoulder joints: 219 mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton / Java / Lisp === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Lifting mechanism * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 43:1 * 4x Maxon encoder: HED 5540 Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC Head * 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 710 2012-12-17T09:24:10Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/ https://rop.wtb.tue.nl/svn/rop/AMIGO/] * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * a head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Construction === * Dimensions (HxWxD): 100-135 x 65 x 65 cm * Weight: +/- 80 kg === Electrical === 4x Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1.473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension (HxWxD): 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5 mm mini-jack output ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180 mm * Distance between shoulder joints: 219 mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton / Java / Lisp === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Lifting mechanism * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 43:1 * 4x Maxon encoder: HED 5540 Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC Head * 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 715 2012-12-17T09:27:38Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO https://rop.wtb.tue.nl/svn/rop/AMIGO] * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * a head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Construction === * Dimensions (HxWxD): 100-135 x 65 x 65 cm * Weight: +/- 80 kg === Electrical === 4x Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1.473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension (HxWxD): 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5 mm mini-jack output ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180 mm * Distance between shoulder joints: 219 mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton / Java / Lisp === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Lifting mechanism * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 43:1 * 4x Maxon encoder: HED 5540 Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC Head * 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 717 2013-02-18T12:48:38Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/AMIGO https://robotics.wtb.tue.nl/svn/rop/AMIGO] * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * a head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Construction === * Dimensions (HxWxD): 100-135 x 65 x 65 cm * Weight: +/- 80 kg === Electrical === 4x Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1.473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension (HxWxD): 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5 mm mini-jack output ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180 mm * Distance between shoulder joints: 219 mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton / Java / Lisp === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Lifting mechanism * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 43:1 * 4x Maxon encoder: HED 5540 Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC Head * 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 798 2014-02-03T15:42:43Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/AMIGO https://robotics.wtb.tue.nl/svn/rop/AMIGO] * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * a head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Construction === * Dimensions (HxWxD): 100-135 x 65 x 65 cm * Weight: +/- 80 kg === Electrical === 4x Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1.473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension (HxWxD): 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5 mm mini-jack output ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180 mm * Distance between shoulder joints: 219 mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton / Java / Lisp === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Lifting mechanism * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 43:1 * 4x Maxon encoder: HED 5540 Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC Head * 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 984 2014-07-21T13:42:24Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/AMIGO https://robotics.wtb.tue.nl/svn/rop/AMIGO] * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * a head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Construction === * Dimensions (HxWxD): 100-135 x 65 x 65 cm * Weight: +/- 80 kg === Electrical === 4x Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1.473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension (HxWxD): 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5 mm mini-jack output ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180 mm * Distance between shoulder joints: 219 mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton / Java / Lisp === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Lifting mechanism * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 43:1 * 4x Maxon encoder: HED 5540 Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC Head * 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 985 2014-07-21T13:42:49Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/AMIGO https://robotics.wtb.tue.nl/svn/rop/AMIGO] * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * a head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Construction === * Dimensions (HxWxD): 100-135 x 65 x 65 cm * Weight: +/- 80 kg === Electrical === 4x Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1.473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension (HxWxD): 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5 mm mini-jack output ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180 mm * Distance between shoulder joints: 219 mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton / Java / Lisp === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Lifting mechanism * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 43:1 * 4x Maxon encoder: HED 5540 Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC Head * 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1094 2022-08-11T12:34:14Z Fruitcake 1 Update new ROP repository location {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO] * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * a head combined with a laser range finder to visualize the environment; * two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released. * a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction; * a base containing the batteries, electronics and four omni wheels. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO with covers]] |} = Specifications = === Construction === * Dimensions (HxWxD): 100-135 x 65 x 65 cm * Weight: +/- 80 kg === Electrical === 4x Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1.473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension (HxWxD): 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Audio === ''In'' <br> Rode VideoMic Directional Video Condenser Microphone * Condenser microphone * 9V battery powered * Integrated shock mounting * Two step High Pass Filter (Flat/80Hz) * Three step PAD (0, =10, -20dB) * Rugged reinforced ABS construction * 3.5 mm mini-jack output ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Arms === Philips Experimental Robotic Arms (PERA) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180 mm * Distance between shoulder joints: 219 mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton / Java / Lisp === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees Arms * Arm: 4 DOF * Wrist: 3 DOF * Gripper: 1 DOF Lifting mechanism * 1 DOF Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 43:1 * 4x Maxon encoder: HED 5540 Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC Head * 2x Dynamixel RX-28 = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 199 776 2013-12-31T14:16:08Z Tmhafkamp 53 Created page with "{| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey..." {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} __TOC__ = Robot Summary = AMIGO 2 is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of AMIGO 1. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] 777 2013-12-31T14:19:45Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} __TOC__ = Robot Summary = AMIGO 2 is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of AMIGO 1. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] [[Image:Total_assy_v1.png|300px|thumb|center|Figure 1: AMIGO 2 standing, front]] 781 2013-12-31T14:44:51Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} __TOC__ = Robot Summary = AMIGO 2 is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of AMIGO 1. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] [[Image:Total_assy_v1.png|300px|thumb|center|Figure 1: AMIGO 2 standing, front]] = Robot Summary = There are plans for a successor for TU/e care robot AMIGO. Construction will start soon. The new model should be more agile and less ‘bumpy’. AMIGO 1 was improved only recently. The plan is for the robots to coexist for a while – AMIGO 1 will stay in the picture even after introduction of his new buddy, says team leader Janno Lunenburg. “We’ll be participating in the RoboCup again next year. Should AMIGO 2 be ready to go by then, we might take it with us. But we’re allowed to register two robots for the competition, and they can work together.” AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. The robot measures a meter-and-a-half in length and moves through a platform on wheels. Using its arms it can carry out a wide variety of human tasks such as retrieving an item from the kitchen. {| style="background: transparent; margin: auto;" | [[Image:Total_assy_v1_zittend.png|400px|thumb|center|Figure 3: CAD model of AMIGO 2 sitting front]] | [[Image:Total_assy_v1_zittend_achterkant.png|400px|thumb|center|Figure 4: CAD model of AMIGO 2 sitting rear]] |} 782 2013-12-31T14:45:33Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} __TOC__ = Robot Summary = AMIGO 2 is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of AMIGO 1. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] {| style="background: transparent; margin: auto;" | [[Image:Total_assy_v1.png|300px|thumb|center|Figure 1: CAD model of AMIGO 2 standing front]] | [[Image:Total_assy_v1_achterkant.png|400px|thumb|center|Figure 2: CAD model of AMIGO 2 standing rear]] |} = Robot Summary = There are plans for a successor for TU/e care robot AMIGO. Construction will start soon. The new model should be more agile and less ‘bumpy’. AMIGO 1 was improved only recently. The plan is for the robots to coexist for a while – AMIGO 1 will stay in the picture even after introduction of his new buddy, says team leader Janno Lunenburg. “We’ll be participating in the RoboCup again next year. Should AMIGO 2 be ready to go by then, we might take it with us. But we’re allowed to register two robots for the competition, and they can work together.” AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. The robot measures a meter-and-a-half in length and moves through a platform on wheels. Using its arms it can carry out a wide variety of human tasks such as retrieving an item from the kitchen. {| style="background: transparent; margin: auto;" | [[Image:Total_assy_v1_zittend.png|400px|thumb|center|Figure 3: CAD model of AMIGO 2 sitting front]] | [[Image:Total_assy_v1_zittend_achterkant.png|400px|thumb|center|Figure 4: CAD model of AMIGO 2 sitting rear]] |} 783 2013-12-31T14:45:47Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} __TOC__ = Robot Summary = AMIGO 2 is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of AMIGO 1. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] {| style="background: transparent; margin: auto;" | [[Image:Total_assy_v1.png|300px|thumb|center|Figure 1: CAD model of AMIGO 2 standing front]] | [[Image:Total_assy_v1_achterkant.png|300px|thumb|center|Figure 2: CAD model of AMIGO 2 standing rear]] |} = Robot Summary = There are plans for a successor for TU/e care robot AMIGO. Construction will start soon. The new model should be more agile and less ‘bumpy’. AMIGO 1 was improved only recently. The plan is for the robots to coexist for a while – AMIGO 1 will stay in the picture even after introduction of his new buddy, says team leader Janno Lunenburg. “We’ll be participating in the RoboCup again next year. Should AMIGO 2 be ready to go by then, we might take it with us. But we’re allowed to register two robots for the competition, and they can work together.” AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. The robot measures a meter-and-a-half in length and moves through a platform on wheels. Using its arms it can carry out a wide variety of human tasks such as retrieving an item from the kitchen. {| style="background: transparent; margin: auto;" | [[Image:Total_assy_v1_zittend.png|400px|thumb|center|Figure 3: CAD model of AMIGO 2 sitting front]] | [[Image:Total_assy_v1_zittend_achterkant.png|400px|thumb|center|Figure 4: CAD model of AMIGO 2 sitting rear]] |} 785 2013-12-31T14:46:23Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} __TOC__ = Robot Summary = AMIGO 2 is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of AMIGO 1. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] {| style="background: transparent; margin: auto;" | [[Image:Total_assy_v1.png|300px|thumb|center|Figure 1: CAD model of AMIGO 2 standing front]] | [[Image:Total_assy_v1_achterkant.png|300px|thumb|center|Figure 2: CAD model of AMIGO 2 standing rear]] |} = Robot Summary = There are plans for a successor for TU/e care robot AMIGO. Construction will start soon. The new model should be more agile and less ‘bumpy’. AMIGO 1 was improved only recently. The plan is for the robots to coexist for a while – AMIGO 1 will stay in the picture even after introduction of his new buddy, says team leader Janno Lunenburg. “We’ll be participating in the RoboCup again next year. Should AMIGO 2 be ready to go by then, we might take it with us. But we’re allowed to register two robots for the competition, and they can work together.” AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. The robot measures a meter-and-a-half in length and moves through a platform on wheels. Using its arms it can carry out a wide variety of human tasks such as retrieving an item from the kitchen. {| style="background: transparent; margin: auto;" | [[Image:Total_assy_v1_zittend.png|400px|thumb|center|Figure 3: CAD model of AMIGO 2 sitting front]] | [[Image:Total_assy_v1_zittend_achterkant.png|400px|thumb|center|Figure 4: CAD model of AMIGO 2 sitting rear]] |} 786 2013-12-31T14:46:41Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} __TOC__ = Robot Summary = AMIGO 2 is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of AMIGO 1. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] {| style="background: transparent; margin: auto;" | [[Image:Total_assy_v1.png|300px|thumb|center|Figure 1: CAD model of AMIGO 2 standing front]] | [[Image:Total_assy_v1_achterkant.png|300px|thumb|center|Figure 2: CAD model of AMIGO 2 standing rear]] |} = Robot Summary = There are plans for a successor for TU/e care robot AMIGO. Construction will start soon. The new model should be more agile and less ‘bumpy’. AMIGO 1 was improved only recently. The plan is for the robots to coexist for a while – AMIGO 1 will stay in the picture even after introduction of his new buddy, says team leader Janno Lunenburg. “We’ll be participating in the RoboCup again next year. Should AMIGO 2 be ready to go by then, we might take it with us. But we’re allowed to register two robots for the competition, and they can work together.” AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. The robot measures a meter-and-a-half in length and moves through a platform on wheels. Using its arms it can carry out a wide variety of human tasks such as retrieving an item from the kitchen. {| style="background: transparent; margin: auto;" | [[Image:Total_assy_v1_zittend.png|400px|thumb|center|Figure 3: CAD model of AMIGO 2 sitting front]] | [[Image:Total_assy_v1_zittend_achterkant.png|400px|thumb|center|Figure 4: CAD model of AMIGO 2 sitting rear]] |} 787 2013-12-31T14:47:35Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} __TOC__ = Robot Summary = [[AMIGO2|AMIGO 2]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[AMIGO2|AMIGO 2]] is currently under development. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] {| style="background: transparent; margin: auto;" | [[Image:Total_assy_v1.png|300px|thumb|center|Figure 1: CAD model of AMIGO 2 standing front]] | [[Image:Total_assy_v1_achterkant.png|300px|thumb|center|Figure 2: CAD model of AMIGO 2 standing rear]] |} = Robot Summary = There are plans for a successor for TU/e care robot AMIGO. Construction will start soon. The new model should be more agile and less ‘bumpy’. AMIGO 1 was improved only recently. The plan is for the robots to coexist for a while – AMIGO 1 will stay in the picture even after introduction of his new buddy, says team leader Janno Lunenburg. “We’ll be participating in the RoboCup again next year. Should AMIGO 2 be ready to go by then, we might take it with us. But we’re allowed to register two robots for the competition, and they can work together.” AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. The robot measures a meter-and-a-half in length and moves through a platform on wheels. Using its arms it can carry out a wide variety of human tasks such as retrieving an item from the kitchen. {| style="background: transparent; margin: auto;" | [[Image:Total_assy_v1_zittend.png|400px|thumb|center|Figure 3: CAD model of AMIGO 2 sitting front]] | [[Image:Total_assy_v1_zittend_achterkant.png|400px|thumb|center|Figure 4: CAD model of AMIGO 2 sitting rear]] |} 788 2013-12-31T14:48:25Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} __TOC__ = Robot Summary = [[AMIGO2|AMIGO 2]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[AMIGO2|AMIGO 2]] is currently under development. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] {| style="background: transparent; margin: auto;" | [[Image:Total_assy_v1.png|300px|thumb|center|Figure 1: CAD model of AMIGO 2 standing front]] | [[Image:Total_assy_v1_achterkant.png|300px|thumb|center|Figure 2: CAD model of AMIGO 2 standing rear]] |} = AMIGO 2 Under Development = There are plans for a successor for TU/e care robot AMIGO. Construction will start soon. The new model should be more agile and less ‘bumpy’. AMIGO 1 was improved only recently. The plan is for the robots to coexist for a while – AMIGO 1 will stay in the picture even after introduction of his new buddy, says team leader Janno Lunenburg. “We’ll be participating in the RoboCup again next year. Should AMIGO 2 be ready to go by then, we might take it with us. But we’re allowed to register two robots for the competition, and they can work together.” AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. The robot measures a meter-and-a-half in length and moves through a platform on wheels. Using its arms it can carry out a wide variety of human tasks such as retrieving an item from the kitchen. {| style="background: transparent; margin: auto;" | [[Image:Total_assy_v1_zittend.png|400px|thumb|center|Figure 3: CAD model of AMIGO 2 sitting front]] | [[Image:Total_assy_v1_zittend_achterkant.png|400px|thumb|center|Figure 4: CAD model of AMIGO 2 sitting rear]] |} 802 2014-02-03T15:44:50Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} __TOC__ = Robot Summary = [[AMIGO2|AMIGO 2]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[AMIGO2|AMIGO 2]] is currently under development. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] {| style="background: transparent; margin: auto;" | [[Image:Total_assy_v1.png|300px|thumb|center|Figure 1: CAD model of AMIGO 2 standing front]] | [[Image:Total_assy_v1_achterkant.png|300px|thumb|center|Figure 2: CAD model of AMIGO 2 standing rear]] |} = AMIGO 2 Under Development = There are plans for a successor for TU/e care robot AMIGO. Construction will start soon. The new model should be more agile and less ‘bumpy’. AMIGO 1 was improved only recently. The plan is for the robots to coexist for a while – AMIGO 1 will stay in the picture even after introduction of his new buddy, says team leader Janno Lunenburg. “We’ll be participating in the RoboCup again next year. Should AMIGO 2 be ready to go by then, we might take it with us. But we’re allowed to register two robots for the competition, and they can work together.” AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. The robot measures a meter-and-a-half in length and moves through a platform on wheels. Using its arms it can carry out a wide variety of human tasks such as retrieving an item from the kitchen. {| style="background: transparent; margin: auto;" | [[Image:Total_assy_v1_zittend.png|400px|thumb|center|Figure 3: CAD model of AMIGO 2 sitting front]] | [[Image:Total_assy_v1_zittend_achterkant.png|400px|thumb|center|Figure 4: CAD model of AMIGO 2 sitting rear]] |} 11 40 2011-10-26T17:55:35Z P.M.G. Metsemakers 2 Created page with "{| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan;..." {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Upper Body|Upper Body]] | [[AMIGO Arms|Arms]] | [[AMIGO Lifting Mechanism|Lifting Mechanism]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms to be able to grasp objects in a household environment. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = 48 2011-11-09T08:47:08Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Upper Body|Upper Body]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms to be able to grasp objects in a household environment. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = 52 2011-11-09T10:07:28Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms to be able to grasp objects in a household environment. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = 76 2011-11-21T10:52:06Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms to be able to grasp objects in a household environment. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = AMIGO can grab, lift and move objects using two Philips robotic arms. These arms have seven degrees of freedom, the same number of degrees human arms have. Six degrees of freedom are required to allow the grabber to reach its desired position and orientation, the seventh degree is used to avoid collisions with obstacles between the robot and the object it is trying to grasp. This way AMIGO can, for example, grab a cup that’s places behind something else. Figures 1 and 2 show pictures of the CAD models. [[Image:AMIGO_left_arm.jpg|700px|thumb|center|Figure 1:AMIGO's left arm]] [[Image:AMIGO_right_arm.jpg|700px|thumb|center|Figure 2:AMIGO's right arm]] 79 2011-11-21T10:55:20Z P.M.G. Metsemakers 2 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms to be able to grasp objects in a household environment. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = AMIGO can grab, lift and move objects using two Philips robotic arms. These arms have seven degrees of freedom, the same number of degrees human arms have. Six degrees of freedom are required to allow the grabber to reach its desired position and orientation, the seventh degree is used to avoid collisions with obstacles between the robot and the object it is trying to grasp. This way AMIGO can, for example, grab a cup that’s places behind something else. Figures 1 and 2 show pictures of the CAD models. <br> [[Image:AMIGO left arm.jpg|700px|thumb|left|Figure 1:AMIGO's left arm]] [[Image:AMIGO right arm.jpg|700px|thumb|right|Figure 2:AMIGO's right arm]] 83 2011-11-21T11:04:26Z P.M.G. Metsemakers 2 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms to be able to grasp objects in a household environment. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = AMIGO can grab, lift and move objects using two Philips robotic arms. These arms have seven degrees of freedom, the same number of degrees human arms have. Six degrees of freedom are required to allow the grabber to reach its desired position and orientation, the seventh degree is used to avoid collisions with obstacles between the robot and the object it is trying to grasp. This way AMIGO can, for example, grab a cup that’s places behind something else. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't fully open source.<br> [[Image:AMIGO right arm.jpg|700px|thumb|left|Figure 1:AMIGO's right arm]] [[Image:AMIGO left arm.jpg|700px|thumb|right|Figure 2:AMIGO's left arm]] 84 2011-11-21T11:58:36Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Philips |- | style="background:white; color:black;" align="left" | ??? |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms to be able to grasp objects in a household environment. * Author: Philips * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = AMIGO can grab, lift and move objects using two Philips robotic arms. These arms have seven degrees of freedom, the same number of degrees human arms have. Six degrees of freedom are required to allow the grabber to reach its desired position and orientation, the seventh degree is used to avoid collisions with obstacles between the robot and the object it is trying to grasp. This way AMIGO can, for example, grab a cup that’s places behind something else. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't fully open source.<br> [[Image:AMIGO right arm.jpg|700px|thumb|left|Figure 1:AMIGO's right arm]] [[Image:AMIGO left arm.jpg|700px|thumb|right|Figure 2:AMIGO's left arm]] 89 2011-11-21T12:42:41Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Philips |- | style="background:white; color:black;" align="left" | ??? |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: Philips * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = The upper body is equipped with two arms, mounted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't fully open source.<br> [[Image:AMIGO right arm.jpg|700px|thumb|left|Figure 1:AMIGO's right arm]] [[Image:AMIGO left arm.jpg|700px|thumb|right|Figure 2:AMIGO's left arm]] [[Image:AMIGO Upper Body.jpg|700px|thumb|center|Figure 1:Mounting of the PERA's to the torso]] 90 2011-11-21T12:46:40Z P.M.G. Metsemakers 2 /* Part Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Philips |- | style="background:white; color:black;" align="left" | ??? |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = The upper body is equipped with two arms, mounted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't fully open source.<br> [[Image:AMIGO right arm.jpg|700px|thumb|left|Figure 1:AMIGO's right arm]] [[Image:AMIGO left arm.jpg|700px|thumb|right|Figure 2:AMIGO's left arm]] [[Image:AMIGO Upper Body.jpg|700px|thumb|center|Figure 1:Mounting of the PERA's to the torso]] 92 2011-11-21T12:57:30Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Philips |- | style="background:white; color:black;" align="left" | ??? |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = The upper body is equipped with two arms, mounted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't fully open source.<br> [[Image:AMIGO right arm.jpg|700px|thumb|left|Figure 1:AMIGO's right arm]] [[Image:AMIGO left arm.jpg|700px|thumb|right|Figure 2:AMIGO's left arm]] [[Image:AMIGO Upper Body.jpg|700px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] 99 2011-11-21T13:07:27Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Philips |- | style="background:white; color:black;" align="left" | ??? |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = The upper body is equipped with two arms, mounted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't fully open source. [[Image:AMIGO right arm.jpg|700px|thumb|left|Figure 1:AMIGO's right arm]] [[Image:AMIGO left arm.jpg|700px|thumb|right|Figure 2:AMIGO's left arm]] [[Image:AMIGO Upper Body.jpg|700px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] 108 2011-11-21T13:31:09Z P.M.G. Metsemakers 2 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Philips |- | style="background:white; color:black;" align="left" | ??? |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = The upper body is equipped with two arms, mounted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't fully open source. [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] [[Image:AMIGO Upper Body.jpg|700px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] 112 2011-11-21T13:33:39Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Philips |- | style="background:white; color:black;" align="left" | ??? |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = The upper body is equipped with two arms, mounted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't fully open source. [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] 113 2011-11-21T13:43:13Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Philips |- | style="background:white; color:black;" align="left" | ??? |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = The upper body is equipped with two arms, mounted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't fully open source. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] 123 2011-11-22T14:19:44Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Philips |- | style="background:white; color:black;" align="left" | ??? |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = The upper body is equipped with two arms, mounted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't fully open source. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] 124 2011-11-22T14:26:20Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Philips |- | style="background:white; color:black;" align="left" | ??? |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't fully open source. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] |} = Assembly of the Arms = The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] 148 2011-11-23T12:02:44Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Philips |- | style="background:white; color:black;" align="left" | ??? |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't fully open source. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] |} = Assembly of the Arms = The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] 163 2011-11-23T13:26:10Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Philips |- | style="background:white; color:black;" align="left" | ??? |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't fully open source. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] |} = Assembly of the Arms = The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] 165 2011-11-23T13:27:06Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.research.philips.com/ Philips] |- | style="background:white; color:black;" align="left" | ??? |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't fully open source. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] |} = Assembly of the Arms = The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] 170 2011-11-23T13:29:59Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.research.philips.com/ Philips] |- | style="background:white; color:black;" align="left" | ??? |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't fully open source. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] |} = Assembly of the Arms = The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] 171 2011-11-23T13:30:14Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.research.philips.com/ Philips] |- | style="background:white; color:black;" align="left" | ??? |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't fully open source. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] |} = Assembly of the Arms = The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] 175 2011-11-23T13:32:27Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.research.philips.com/ Philips] |- | style="background:white; color:black;" align="left" | ??? |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't fully open source. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] |} = Assembly of the Arms = The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] 185 2011-11-23T14:03:17Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.research.philips.com/ Philips] |- | style="background:white; color:black;" align="left" | ??? |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't fully open source. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] |} = Assembly of the Arms = The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] 197 2011-11-24T08:48:01Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.research.philips.com/ Philips] |- | style="background:white; color:black;" align="left" | ??? |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't fully open source. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] |} = Assembly of the Arms = The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] 205 2011-11-24T10:42:01Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't fully open source. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] |} = Assembly of the Arms = The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] 215 2011-11-24T11:53:33Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't fully open source. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] |} = Assembly of the Arms = The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] 221 2011-11-24T12:17:15Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] = Electronics = Not Available 228 2011-11-24T12:23:42Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] = Electronics = Not Available 247 2011-11-24T15:29:42Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | Inventor Files |- | style="background:white; color:black;" align="left" | STEP Files |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] = Electronics = Not Available 248 2011-11-24T15:29:58Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Inventor Files |- | style="background:white; color:black;" align="left" | STEP Files |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] = Electronics = Not Available 253 2011-11-24T15:31:30Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Inventor |- | style="background:white; color:black;" align="left" | STEP |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] = Electronics = Not Available 268 2011-11-25T11:50:01Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/ https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/] * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] = Electronics = Not Available 272 2011-11-25T11:52:54Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/ https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] = Electronics = Not Available 289 2011-11-28T12:53:00Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/ https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] = Electronics = Not Available 308 2011-11-29T09:35:28Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/ https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] = Electronics = Not Available 317 2011-11-29T09:55:12Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/ https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1: AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2: AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the PERA's to the torso]] = Electronics = Not Available 352 2011-11-30T18:53:59Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/ https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1: AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2: AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the PERA's to the torso]] = Electronics = Not Available 361 2011-11-30T20:14:25Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: CERN OHL v.1.1 {| cellpadding="2" style="border: 1px solid darkgrey; margin-left: 4em;" |- |- border="0" | Copyright Technische Universiteit Eindhoven 2011. <br> This documentation describes Open Hardware and is licensed under the <br> CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the <br> CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed <br> WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF <br> MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A <br> PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable <br> conditions <br> |} * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/ https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1: AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2: AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the PERA's to the torso]] = Electronics = Not Available 364 2011-11-30T20:19:21Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: CERN OHL v.1.1 {| cellpadding="2" style="border: 1px solid darkgrey; margin-left: 4em;" |- |- border="0" | This documentation describes Open Hardware and is licensed under the <br> CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the <br> CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed <br> WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF <br> MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A <br> PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable <br> conditions <br> |} * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/ https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1: AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2: AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the PERA's to the torso]] = Electronics = Not Available 370 2011-12-01T08:46:30Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: CERN OHL v.1.1 {| cellpadding="2" style="border: 1px solid darkgrey; margin-left: 4em;" |- |- border="0" | Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the <br> CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the <br> CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed <br> WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF <br> MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A <br> PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable <br> conditions <br> |} * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/ https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1: AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2: AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the PERA's to the torso]] = Electronics = Not Available 376 2011-12-01T09:20:25Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/ https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1: AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2: AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the PERA's to the torso]] = Electronics = Not Available 388 2011-12-02T10:10:29Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/ https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1: AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2: AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the PERA's to the torso]] = Electronics = Not Available = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 406 2011-12-02T14:39:54Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/ https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1: AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2: AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the PERA's to the torso]] = Electronics = Not Available = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 409 2011-12-02T14:40:45Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/ https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1: AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2: AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the PERA's to the torso]] = Electronics = Not Available = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 472 2011-12-19T12:12:39Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/ https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1: AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2: AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the PERA's to the torso]] = Specifications = ''(Coming Soon)'' = Electronics = Not Available = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 476 2011-12-21T09:52:54Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/ https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1: AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2: AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the PERA's to the torso]] = Specifications = Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180mm * Distance between shoulder joints: 219mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max = Electronics = Not Available = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 483 2011-12-21T10:52:31Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/ https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1: AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2: AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the PERA's to the torso]] = Specifications = Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180mm * Distance between shoulder joints: 219mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ = Electronics = Not Available = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 485 2011-12-21T11:03:23Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/ https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1: AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2: AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the PERA's to the torso]] = Specifications = Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180mm * Distance between shoulder joints: 219mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Connection === * USB === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ = Electronics = Not Available = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 496 2011-12-21T12:26:58Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/ https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1: AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2: AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the PERA's to the torso]] = Specifications = * Weight: +/- 7.9 kg (per arm) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180mm * Distance between shoulder joints: 219mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Connection === * USB === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ = Electronics = Not Available = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 510 2012-01-11T12:22:00Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/ https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1: AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2: AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the PERA's to the torso]] = Specifications = * Weight: +/- 6.9 kg (per arm) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180mm * Distance between shoulder joints: 219mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Connection === * USB === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ = Electronics = Not Available = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 511 2012-01-11T12:23:29Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/ https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1: AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2: AMIGO's left arm]] |} = Mechanics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the PERA's to the torso]] = Specifications = * Weight: +/- 6.9 kg (per arm) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180mm * Distance between shoulder joints: 219mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Communication === * USB === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ = Electronics = Not Available = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 575 2012-08-28T12:18:50Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/ https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1: AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2: AMIGO's left arm]] |} = Mechatronics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the PERA's to the torso]] = Specifications = * Weight: +/- 6.9 kg (per arm) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180mm * Distance between shoulder joints: 219mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Communication === * USB === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 577 2012-08-28T12:20:19Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/ https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1: AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2: AMIGO's left arm]] |} = Specifications = * Weight: +/- 6.9 kg (per arm) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180mm * Distance between shoulder joints: 219mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Communication === * USB === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ = Mechatronics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the PERA's to the torso]] = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 712 2012-12-17T09:26:15Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA https://rop.wtb.tue.nl/svn/rop/AMIGO/PERA] * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1: AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2: AMIGO's left arm]] |} = Specifications = * Weight: +/- 6.9 kg (per arm) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180mm * Distance between shoulder joints: 219mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Communication === * USB === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ = Mechatronics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the PERA's to the torso]] = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 719 2013-02-18T12:50:32Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: CERN OHL v.1.1 * Repository: [https://robotics.wtb.tue.nl/svn/rop/AMIGO/PERA https://robotics.wtb.tue.nl/svn/rop/AMIGO/PERA] * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1: AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2: AMIGO's left arm]] |} = Specifications = * Weight: +/- 6.9 kg (per arm) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180mm * Distance between shoulder joints: 219mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Communication === * USB === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ = Mechatronics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the PERA's to the torso]] = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 730 2013-02-25T12:29:49Z P.M.G. Metsemakers 2 /* Specifications */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: CERN OHL v.1.1 * Repository: [https://robotics.wtb.tue.nl/svn/rop/AMIGO/PERA https://robotics.wtb.tue.nl/svn/rop/AMIGO/PERA] * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1: AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2: AMIGO's left arm]] |} = Specifications = * Weight: +/- 6.9 kg (per arm) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180mm * Distance between shoulder joints: 438mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Communication === * USB === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ = Mechatronics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the PERA's to the torso]] = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1096 2022-08-11T12:36:04Z Fruitcake 1 Update new ROP repository location {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |- | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/PERA/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/PERA/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | Not Available |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. * Author: [http://www.research.philips.com/ Philips] * License: CERN OHL v.1.1 * Repository: [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/PERA https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/PERA] * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] = Overview = The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source. <br> Figures 1 and 2 show estimated CAD models of the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1: AMIGO's right arm]] | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2: AMIGO's left arm]] |} = Specifications = * Weight: +/- 6.9 kg (per arm) Arm DOFs * Arm: 4 * Wrist: 3 * Gripper: 1 * Liftable force: 1.5 kg (straight arm) Arm Link Lengths * Upper Arm: 320 mm * Forearm: 280 mm * Wrist to Gripper Surface: 90 to 180mm * Distance between shoulder joints: 438mm Arm Range of Motion * Shoulder yaw: 180 degrees * Shoulder roll: 90 degrees * Shoulder pitch: 180 degrees * Elbow yaw: 210 degrees * Elbow pitch: 145 degrees * Wrist Yaw: 90 degrees * Wrist Pitch: 114 degrees * Gripper: 90mm max === Communication === * USB === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ = Mechatronics = === Assembly of the Arms to the Torso === The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the PERA's to the torso]] = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 12 41 2011-10-26T17:58:03Z P.M.G. Metsemakers 2 Created page with "{| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan;..." {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Upper Body|Upper Body]] | [[AMIGO Arms|Arms]] | [[AMIGO Lifting Mechanism|Lifting Mechanism]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Base plate info. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = 49 2011-11-09T08:47:21Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Upper Body|Upper Body]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Base plate info. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = 53 2011-11-09T10:07:54Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Base plate info. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = 135 2011-11-23T10:08:38Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Base plate info. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1:The exploded view of AMIGO's head]] '''Still Under Construction''' 137 2011-11-23T10:09:27Z P.M.G. Metsemakers 2 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Base plate info. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembled base of AMIGO]] '''Still Under Construction''' 138 2011-11-23T10:09:39Z P.M.G. Metsemakers 2 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Base plate info. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembled base of AMIGO.]] '''Still Under Construction''' 141 2011-11-23T10:19:48Z P.M.G. Metsemakers 2 /* Part Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembled base of AMIGO.]] '''Still Under Construction''' 146 2011-11-23T12:02:13Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembled base of AMIGO.]] '''Still Under Construction''' 169 2011-11-23T13:29:35Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/en Tech United] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembled base of AMIGO.]] '''Still Under Construction''' 190 2011-11-23T21:52:36Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/en Tech United] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembled base of AMIGO.]] '''Still Under Construction''' 199 2011-11-24T08:48:19Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/en Tech United] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembled base of AMIGO.]] '''Still Under Construction''' 225 2011-11-24T12:21:58Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembled base of AMIGO.]] '''Still Under Construction''' = Mechanics = ''(Coming Soon)'' = Electronics = ''(Coming Soon)'' 226 2011-11-24T12:23:17Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembled base of AMIGO.]] '''Still Under Construction''' = Mechanics = ''(Coming Soon)'' = Electronics = ''(Coming Soon)'' 245 2011-11-24T15:29:24Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | Inventor Files |- | style="background:white; color:black;" align="left" | STEP Files |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembled base of AMIGO.]] '''Still Under Construction''' = Mechanics = ''(Coming Soon)'' = Electronics = ''(Coming Soon)'' 250 2011-11-24T15:30:26Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Inventor Files |- | style="background:white; color:black;" align="left" | STEP Files |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembled base of AMIGO.]] '''Still Under Construction''' = Mechanics = ''(Coming Soon)'' = Electronics = ''(Coming Soon)'' 251 2011-11-24T15:30:52Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Inventor |- | style="background:white; color:black;" align="left" | STEP |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembled base of AMIGO.]] '''Still Under Construction''' = Mechanics = ''(Coming Soon)'' = Electronics = ''(Coming Soon)'' 270 2011-11-25T11:52:09Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembled base of AMIGO.]] '''Still Under Construction''' = Mechanics = ''(Coming Soon)'' = Electronics = ''(Coming Soon)'' 291 2011-11-28T12:53:26Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembled base of AMIGO.]] '''Still Under Construction''' = Mechanics = ''(Coming Soon)'' = Electronics = ''(Coming Soon)'' 292 2011-11-28T12:53:48Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembled base of AMIGO.]] '''Still Under Construction''' = Mechanics = ''(Coming Soon)'' = Electronics = ''(Coming Soon)'' 293 2011-11-28T12:54:17Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Still Under Construction''' Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembled base of AMIGO.]] = Mechanics = ''(Coming Soon)'' = Electronics = ''(Coming Soon)'' 294 2011-11-28T12:54:37Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Still Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembled base of AMIGO.]] = Mechanics = ''(Coming Soon)'' = Electronics = ''(Coming Soon)'' 295 2011-11-28T12:54:54Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembled base of AMIGO.]] = Mechanics = ''(Coming Soon)'' = Electronics = ''(Coming Soon)'' 310 2011-11-29T09:36:34Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembled base of AMIGO.]] = Mechanics = ''(Coming Soon)'' = Electronics = ''(Coming Soon)'' 312 2011-11-29T09:52:10Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 2. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|500 px|thumb|center|Figure 2: Exploded view of a omniwheel.]] = Electronics = ''(Coming Soon)'' 319 2011-11-29T09:57:09Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 2. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|500 px|thumb|center|Figure 2: Exploded view of a omniwheel.]] = Electronics = ''(Coming Soon)'' 330 2011-11-29T12:18:28Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 2. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 2: Exploded view of a omniwheel.]] === Base Plate === Figure 3 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 3: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. = Electronics = ''(Coming Soon)'' 331 2011-11-29T12:28:40Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 2. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 2: Exploded view of a omniwheel.]] === Base Plate === Figure 3 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 3: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate== Figure 4 shows the electronic components that are mounted on the base plate. The components are: 1. The batteries 2. Industrial Beckhoff PC with its stock mounting plate and a support unit that is used to connect it to the base plate. 3. Ethercat stacks. The lower one has it own support, which is similar to the support of the PC. The upper one is mounted to the PC support. The height of these stacks is not determined yet. In the design they have both the size of the stack that is used in the Turtle. 4. Amplifiers for the motors that drive Amigo around 5. Amplifier for the lifting mechanism. 6. Two traco power DC/DC 20 watt power converters + mount 7. Two Traco power DC/DC 150 watt power converters 8. LRF tilting mechanism and support. The support is folded from a 3 mm aluminum sheet and is bolted to the base plate. [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.] = Electronics = ''(Coming Soon)'' 332 2011-11-29T13:51:24Z P.M.G. Metsemakers 2 /* = Electronic Components Mounted on the Base Plate */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 2. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 2: Exploded view of a omniwheel.]] === Base Plate === Figure 3 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 3: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate== Figure 4 shows the electronic components that are mounted on the base plate. The components are: 1. The batteries 2. Industrial Beckhoff PC with its stock mounting plate and a support unit that is used to connect it to the base plate. 3. Ethercat stacks. The lower one has it own support, which is similar to the support of the PC. The upper one is mounted to the PC support. The height of these stacks is not determined yet. In the design they have both the size of the stack that is used in the Turtle. 4. Amplifiers for the motors that drive Amigo around 5. Amplifier for the lifting mechanism. 6. Two traco power DC/DC 20 watt power converters + mount 7. Two Traco power DC/DC 150 watt power converters 8. LRF tilting mechanism and support. The support is folded from a 3 mm aluminum sheet and is bolted to the base plate. [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] = Electronics = ''(Coming Soon)'' 335 2011-11-29T14:35:55Z P.M.G. Metsemakers 2 /* = Electronic Components Mounted on the Base Plate */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 2. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 2: Exploded view of a omniwheel.]] === Base Plate === Figure 3 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 3: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 4 shows the electronic components that are mounted on the base plate. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. A Traco power DC/DC 150 watt power converters in the middle with Two traco power DC/DC 20 watt power converters on their sides <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> More information about the electronic components will be given in the electronics chapter. [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] = Electronics = ''(Coming Soon)'' 336 2011-11-29T14:38:42Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 2. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 2: Exploded view of a omniwheel.]] === Base Plate === Figure 3 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 3: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 4 shows the electronic components that are mounted on the base plate. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> More information about the electronic components will be given in the electronics chapter. [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] = Electronics = ''(Coming Soon)'' 340 2011-11-30T09:58:07Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 2. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 2: Exploded view of a omniwheel.]] === Base Plate === Figure 3 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 3: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 4 shows the electronic components that are mounted on the base plate. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> More information about the electronic components will be given in the electronics chapter. [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 4: Electronic components that are mounted on the base plate.]] === Leg === [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] = Electronics = ''(Coming Soon)'' 341 2011-11-30T10:19:22Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 2. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 2: Exploded view of a omniwheel.]] === Base Plate === Figure 3 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 3: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 4 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 4: Electronic components that are mounted on the base plate.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter 6061-T6 aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] 1. U profile of front and side plates 2. U profile’s upper flange 3. Rear end plate 4. Vertical flange 5. Horizontal flange 6. Top plate flange 7. Connection plate 8. Rear plate 9. Internal plate 10. Pop rivets [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] 1. Omniwheel 2. Motor support 3. Motor clamp 4. Assembled motor with a gear head and encoder === Central Box === = Electronics = ''(Coming Soon)'' 342 2011-11-30T10:44:42Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 2. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 2: Exploded view of a omniwheel.]] === Base Plate === Figure 3 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 3: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 4 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 4: Electronic components that are mounted on the base plate.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter 6061-T6 aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1), motor support (2), motor clamp (3), the assembled motor with a gear head and encoder (4) amplifier (5). [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === = Electronics = ''(Coming Soon)'' 343 2011-11-30T10:54:46Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 2. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 2: Exploded view of a omniwheel.]] === Base Plate === Figure 3 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 3: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 4 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 4: Electronic components that are mounted on the base plate.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === = Electronics = ''(Coming Soon)'' 344 2011-11-30T10:55:07Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 2. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 2: Exploded view of a omniwheel.]] === Base Plate === Figure 3 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 3: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 4 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 4: Electronic components that are mounted on the base plate.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === = Electronics = ''(Coming Soon)'' 345 2011-11-30T10:56:44Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === = Electronics = ''(Coming Soon)'' 354 2011-11-30T18:54:21Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === = Electronics = ''(Coming Soon)'' 355 2011-11-30T18:54:36Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === = Electronics = ''(Coming Soon)'' 363 2011-11-30T20:14:45Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 {| cellpadding="2" style="border: 1px solid darkgrey; margin-left: 4em;" |- |- border="0" | Copyright Technische Universiteit Eindhoven 2011. <br> This documentation describes Open Hardware and is licensed under the <br> CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the <br> CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed <br> WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF <br> MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A <br> PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable <br> conditions <br> |} * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === = Electronics = ''(Coming Soon)'' 368 2011-11-30T20:20:03Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 {| cellpadding="2" style="border: 1px solid darkgrey; margin-left: 4em;" |- |- border="0" | This documentation describes Open Hardware and is licensed under the <br> CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the <br> CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed <br> WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF <br> MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A <br> PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable <br> conditions <br> |} * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === = Electronics = ''(Coming Soon)'' 372 2011-12-01T08:47:15Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 {| cellpadding="2" style="border: 1px solid darkgrey; margin-left: 4em;" |- |- border="0" | Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the <br> CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the <br> CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed <br> WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF <br> MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A <br> PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable <br> conditions <br> |} * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === = Electronics = ''(Coming Soon)'' 374 2011-12-01T09:20:16Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ {| cellpadding="2" style="border: 1px solid darkgrey; margin-left: 4em;" |- |- border="0" | Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the <br> CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the <br> CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed <br> WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF <br> MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A <br> PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable <br> conditions <br> |} = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === = Electronics = ''(Coming Soon)'' 381 2011-12-01T09:36:06Z P.M.G. Metsemakers 2 /* Central Box */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ {| cellpadding="2" style="border: 1px solid darkgrey; margin-left: 4em;" |- |- border="0" | Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the <br> CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the <br> CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed <br> WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF <br> MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A <br> PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable <br> conditions <br> |} = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === {| style="background: transparent; margin: auto;" | [[Image:AMIGO Central Box Open.jpg|400px|thumb|center|Figure 7: Inner structure central box.]] | [[Image:AMIGO Central Box Closed.jpg|400px|thumb|center|Figure 8: Complete central box.]] |} = Electronics = ''(Coming Soon)'' 382 2011-12-01T12:02:47Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ {| cellpadding="2" style="border: 1px solid darkgrey; margin-left: 4em;" |- |- border="0" | Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the <br> CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the <br> CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed <br> WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF <br> MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A <br> PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable <br> conditions <br> |} = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === It is important to keep the axes of the wheels in the same horizontal plane, even after a collision. This requires a stiff central box and stiff legs. A stiff box transmits the force to the other legs. Therefore, the whole frame contributes to the absorbtion of an impact. The central box needs to be both stiff and light. This is achieved with the closed box principle. This is a box with all the material in the walls. A closed box of constant wall thickness is the stiffest and lightest design with that quantity of material within that volume. <br> The box is built up from sheet metal components, which are welded and pop riveted together. The components are loaded in their plane. This addressed the shear stiffness and the in plane bending stiffness of the sheet, which are much larger than its out of plane bending stiffness. The basic shape of the central box is a 3D octagon with a hole in the center. The ribs of the octagon plane have a length of 70 mm and the 3D object is 120 mm high. Figure 7 shows some of the its components. <br> The center of the box is a tube (1) with an inner diameter of 66 mm. Radial sheets (2) are attached to the tube. The legs are attached to these sheets via flanges (6). The radial sheets point towards the center of the tube. The sheets transfer the radial forces applied to the legs to the center of the box. This prevents unwanted torsion of the box. <br> Three edges of the radial sheets contains merlons (4). These are inserted into slots (5) and the remaining space in the slot is filled with a weld. This connects the sheets. The connection between the tube and the radial sheets fixes the radial and axial degree of freedom of the sheet. It can now be regarded as a cantilever. One end is fixed and the rest of the sheet can still bend out of its plane. A bottom (3) and a top sheet (8) (see figure 8) are added to prevent this. Also merlons are used to connect the radial sheets to the top and bottom sheet. <br> Finally, vertical sheets are added between the outside edges of the top and bottom sheet. This creates the closed box. Figure 8 shows such a sheet (7). The edges of the sheet are folded to form flanges. The top and bottom flanges are pop riveted (9) to the top and bottom sheet of the box. These two sheets are now firmly connected and cannot rotate with respect to each other. The left and right flange have screw clearance holes. These are aligned with the holes in the flanges of the radial sheets. Four of these sheets are positioned under 90 degrees� with respect to each other. This leaves four open planes at the outside of the box. These are covered by the legs, which are bolted to the box. <br> All components of the box are made of 6061-aluminum. The sheets have a thickness of one millimeter. The components can be cut out from a sheet of aluminum with a laser cutter, after which the flanges can be bent. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Central Box Open.jpg|400px|thumb|center|Figure 7: Inner structure central box.]] | [[Image:AMIGO Central Box Closed.jpg|400px|thumb|center|Figure 8: Complete central box.]] |} = Electronics = ''(Coming Soon)'' 383 2011-12-01T12:03:53Z P.M.G. Metsemakers 2 /* Central Box */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ {| cellpadding="2" style="border: 1px solid darkgrey; margin-left: 4em;" |- |- border="0" | Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the <br> CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the <br> CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed <br> WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF <br> MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A <br> PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable <br> conditions <br> |} = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === It is important to keep the axes of the wheels in the same horizontal plane, even after a collision. This requires a stiff central box and stiff legs. A stiff box transmits the force to the other legs. Therefore, the whole frame contributes to the absorbtion of an impact. The central box needs to be both stiff and light. This is achieved with the closed box principle. This is a box with all the material in the walls. A closed box of constant wall thickness is the stiffest and lightest design with that quantity of material within that volume. <br> The box is built up from sheet metal components, which are welded and pop riveted together. The components are loaded in their plane. This addressed the shear stiffness and the in plane bending stiffness of the sheet, which are much larger than its out of plane bending stiffness. The basic shape of the central box is a 3D octagon with a hole in the center. The ribs of the octagon plane have a length of 70 mm and the 3D object is 120 mm high. Figure 7 shows some of the its components. <br> The center of the box is a tube (1) with an inner diameter of 66 mm. Radial sheets (2) are attached to the tube. The legs are attached to these sheets via flanges (6). The radial sheets point towards the center of the tube. The sheets transfer the radial forces applied to the legs to the center of the box. This prevents unwanted torsion of the box. <br> Three edges of the radial sheets contains merlons (4). These are inserted into slots (5) and the remaining space in the slot is filled with a weld. This connects the sheets. The connection between the tube and the radial sheets fixes the radial and axial degree of freedom of the sheet. It can now be regarded as a cantilever. One end is fixed and the rest of the sheet can still bend out of its plane. A bottom (3) and a top sheet (8) (see figure 8) are added to prevent this. Also merlons are used to connect the radial sheets to the top and bottom sheet. [[Image:AMIGO Central Box Open.jpg|400px|thumb|center|Figure 7: Inner structure central box.]] Finally, vertical sheets are added between the outside edges of the top and bottom sheet. This creates the closed box. Figure 8 shows such a sheet (7). The edges of the sheet are folded to form flanges. The top and bottom flanges are pop riveted (9) to the top and bottom sheet of the box. These two sheets are now firmly connected and cannot rotate with respect to each other. The left and right flange have screw clearance holes. These are aligned with the holes in the flanges of the radial sheets. Four of these sheets are positioned under 90 degrees with respect to each other. This leaves four open planes at the outside of the box. These are covered by the legs, which are bolted to the box. <br> All components of the box are made of 6061-aluminum. The sheets have a thickness of one millimeter. The components can be cut out from a sheet of aluminum with a laser cutter, after which the flanges can be bent. [[Image:AMIGO Central Box Closed.jpg|400px|thumb|center|Figure 8: Complete central box.]] = Electronics = ''(Coming Soon)'' 384 2011-12-01T12:04:36Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ {| cellpadding="2" style="border: 1px solid darkgrey; margin-left: 4em;" |- |- border="0" | Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the <br> CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the <br> CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed <br> WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF <br> MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A <br> PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable <br> conditions <br> |} = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === It is important to keep the axes of the wheels in the same horizontal plane, even after a collision. This requires a stiff central box and stiff legs. A stiff box transmits the force to the other legs. Therefore, the whole frame contributes to the absorbtion of an impact. The central box needs to be both stiff and light. This is achieved with the closed box principle. This is a box with all the material in the walls. A closed box of constant wall thickness is the stiffest and lightest design with that quantity of material within that volume. <br> The box is built up from sheet metal components, which are welded and pop riveted together. The components are loaded in their plane. This addressed the shear stiffness and the in plane bending stiffness of the sheet, which are much larger than its out of plane bending stiffness. The basic shape of the central box is a 3D octagon with a hole in the center. The ribs of the octagon plane have a length of 70 mm and the 3D object is 120 mm high. Figure 7 shows some of the its components. <br> The center of the box is a tube (1) with an inner diameter of 66 mm. Radial sheets (2) are attached to the tube. The legs are attached to these sheets via flanges (6). The radial sheets point towards the center of the tube. The sheets transfer the radial forces applied to the legs to the center of the box. This prevents unwanted torsion of the box. <br> Three edges of the radial sheets contains merlons (4). These are inserted into slots (5) and the remaining space in the slot is filled with a weld. This connects the sheets. The connection between the tube and the radial sheets fixes the radial and axial degree of freedom of the sheet. It can now be regarded as a cantilever. One end is fixed and the rest of the sheet can still bend out of its plane. A bottom (3) and a top sheet (8) (see figure 8) are added to prevent this. Also merlons are used to connect the radial sheets to the top and bottom sheet. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Central Box Open.jpg|400px|thumb|center|Figure 7: Inner structure central box.]] | [[Image:AMIGO Central Box Closed.jpg|400px|thumb|center|Figure 8: Complete central box.]] |} Finally, vertical sheets are added between the outside edges of the top and bottom sheet. This creates the closed box. Figure 8 shows such a sheet (7). The edges of the sheet are folded to form flanges. The top and bottom flanges are pop riveted (9) to the top and bottom sheet of the box. These two sheets are now firmly connected and cannot rotate with respect to each other. The left and right flange have screw clearance holes. These are aligned with the holes in the flanges of the radial sheets. Four of these sheets are positioned under 90 degrees� with respect to each other. This leaves four open planes at the outside of the box. These are covered by the legs, which are bolted to the box. <br> All components of the box are made of 6061-aluminum. The sheets have a thickness of one millimeter. The components can be cut out from a sheet of aluminum with a laser cutter, after which the flanges can be bent. = Electronics = ''(Coming Soon)'' 385 2011-12-01T12:06:34Z P.M.G. Metsemakers 2 /* Central Box */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ {| cellpadding="2" style="border: 1px solid darkgrey; margin-left: 4em;" |- |- border="0" | Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the <br> CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the <br> CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed <br> WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF <br> MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A <br> PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable <br> conditions <br> |} = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === It is important to keep the axes of the wheels in the same horizontal plane, even after a collision. This requires a stiff central box and stiff legs. A stiff box transmits the force to the other legs. Therefore, the whole frame contributes to the absorbtion of an impact. The central box needs to be both stiff and light. This is achieved with the closed box principle. This is a box with all the material in the walls. A closed box of constant wall thickness is the stiffest and lightest design with that quantity of material within that volume. <br> The box is built up from sheet metal components, which are welded and pop riveted together. The components are loaded in their plane. This addressed the shear stiffness and the in plane bending stiffness of the sheet, which are much larger than its out of plane bending stiffness. The basic shape of the central box is a 3D octagon with a hole in the center. The ribs of the octagon plane have a length of 70 mm and the 3D object is 120 mm high. Figure 7 shows some of the its components. <br> The center of the box is a tube (1) with an inner diameter of 66 mm. Radial sheets (2) are attached to the tube. The legs are attached to these sheets via flanges (6). The radial sheets point towards the center of the tube. The sheets transfer the radial forces applied to the legs to the center of the box. This prevents unwanted torsion of the box. <br> Three edges of the radial sheets contains merlons (4). These are inserted into slots (5) and the remaining space in the slot is filled with a weld. This connects the sheets. The connection between the tube and the radial sheets fixes the radial and axial degree of freedom of the sheet. It can now be regarded as a cantilever. One end is fixed and the rest of the sheet can still bend out of its plane. A bottom (3) and a top sheet (8) (see figure 8) are added to prevent this. Also merlons are used to connect the radial sheets to the top and bottom sheet. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Central Box Open.jpg|400px|thumb|center|Figure 7: Inner structure central box.]] | [[Image:AMIGO Central Box Closed.jpg|400px|thumb|center|Figure 8: Complete central box.]] |} Finally, vertical sheets are added between the outside edges of the top and bottom sheet. This creates the closed box. Figure 8 shows such a sheet (7). The edges of the sheet are folded to form flanges. The top and bottom flanges are pop riveted (9) to the top and bottom sheet of the box. These two sheets are now firmly connected and cannot rotate with respect to each other. The left and right flange have screw clearance holes. These are aligned with the holes in the flanges of the radial sheets. Four of these sheets are positioned under 90 degrees with respect to each other. This leaves four open planes at the outside of the box. These are covered by the legs, which are bolted to the box. <br> All components of the box are made of 6061-aluminum. The sheets have a thickness of one millimeter. The components can be cut out from a sheet of aluminum with a laser cutter, after which the flanges can be bent. = Electronics = ''(Coming Soon)'' 386 2011-12-01T12:07:04Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ {| cellpadding="2" style="border: 1px solid darkgrey; margin-left: 4em;" |- |- border="0" | Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the <br> CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the <br> CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed <br> WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF <br> MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A <br> PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable <br> conditions <br> |} = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === It is important to keep the axes of the wheels in the same horizontal plane, even after a collision. This requires a stiff central box and stiff legs. A stiff box transmits the force to the other legs. Therefore, the whole frame contributes to the absorbtion of an impact. The central box needs to be both stiff and light. This is achieved with the closed box principle. This is a box with all the material in the walls. A closed box of constant wall thickness is the stiffest and lightest design with that quantity of material within that volume. <br> The box is built up from sheet metal components, which are welded and pop riveted together. The components are loaded in their plane. This addressed the shear stiffness and the in plane bending stiffness of the sheet, which are much larger than its out of plane bending stiffness. The basic shape of the central box is a 3D octagon with a hole in the center. The ribs of the octagon plane have a length of 70 mm and the 3D object is 120 mm high. Figure 7 shows some of the its components. <br> The center of the box is a tube (1) with an inner diameter of 66 mm. Radial sheets (2) are attached to the tube. The legs are attached to these sheets via flanges (6). The radial sheets point towards the center of the tube. The sheets transfer the radial forces applied to the legs to the center of the box. This prevents unwanted torsion of the box. <br> Three edges of the radial sheets contains merlons (4). These are inserted into slots (5) and the remaining space in the slot is filled with a weld. This connects the sheets. The connection between the tube and the radial sheets fixes the radial and axial degree of freedom of the sheet. It can now be regarded as a cantilever. One end is fixed and the rest of the sheet can still bend out of its plane. A bottom (3) and a top sheet (8) (see figure 8) are added to prevent this. Also merlons are used to connect the radial sheets to the top and bottom sheet. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Central Box Open.jpg|400px|thumb|center|Figure 7: Inner structure central box.]] | [[Image:AMIGO Central Box Closed.jpg|400px|thumb|center|Figure 8: Complete central box.]] |} Finally, vertical sheets are added between the outside edges of the top and bottom sheet. This creates the closed box. Figure 8 shows such a sheet (7). The edges of the sheet are folded to form flanges. The top and bottom flanges are pop riveted (9) to the top and bottom sheet of the box. These two sheets are now firmly connected and cannot rotate with respect to each other. The left and right flange have screw clearance holes. These are aligned with the holes in the flanges of the radial sheets. Four of these sheets are positioned under 90 degrees with respect to each other. This leaves four open planes at the outside of the box. These are covered by the legs, which are bolted to the box. <br> All components of the box are made of 6061-aluminum. The sheets have a thickness of one millimeter. The components can be cut out from a sheet of aluminum with a laser cutter, after which the flanges can be bent. = Electronics = ''(Coming Soon)'' 392 2011-12-02T10:16:21Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === It is important to keep the axes of the wheels in the same horizontal plane, even after a collision. This requires a stiff central box and stiff legs. A stiff box transmits the force to the other legs. Therefore, the whole frame contributes to the absorbtion of an impact. The central box needs to be both stiff and light. This is achieved with the closed box principle. This is a box with all the material in the walls. A closed box of constant wall thickness is the stiffest and lightest design with that quantity of material within that volume. <br> The box is built up from sheet metal components, which are welded and pop riveted together. The components are loaded in their plane. This addressed the shear stiffness and the in plane bending stiffness of the sheet, which are much larger than its out of plane bending stiffness. The basic shape of the central box is a 3D octagon with a hole in the center. The ribs of the octagon plane have a length of 70 mm and the 3D object is 120 mm high. Figure 7 shows some of the its components. <br> The center of the box is a tube (1) with an inner diameter of 66 mm. Radial sheets (2) are attached to the tube. The legs are attached to these sheets via flanges (6). The radial sheets point towards the center of the tube. The sheets transfer the radial forces applied to the legs to the center of the box. This prevents unwanted torsion of the box. <br> Three edges of the radial sheets contains merlons (4). These are inserted into slots (5) and the remaining space in the slot is filled with a weld. This connects the sheets. The connection between the tube and the radial sheets fixes the radial and axial degree of freedom of the sheet. It can now be regarded as a cantilever. One end is fixed and the rest of the sheet can still bend out of its plane. A bottom (3) and a top sheet (8) (see figure 8) are added to prevent this. Also merlons are used to connect the radial sheets to the top and bottom sheet. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Central Box Open.jpg|400px|thumb|center|Figure 7: Inner structure central box.]] | [[Image:AMIGO Central Box Closed.jpg|400px|thumb|center|Figure 8: Complete central box.]] |} Finally, vertical sheets are added between the outside edges of the top and bottom sheet. This creates the closed box. Figure 8 shows such a sheet (7). The edges of the sheet are folded to form flanges. The top and bottom flanges are pop riveted (9) to the top and bottom sheet of the box. These two sheets are now firmly connected and cannot rotate with respect to each other. The left and right flange have screw clearance holes. These are aligned with the holes in the flanges of the radial sheets. Four of these sheets are positioned under 90 degrees with respect to each other. This leaves four open planes at the outside of the box. These are covered by the legs, which are bolted to the box. <br> All components of the box are made of 6061-aluminum. The sheets have a thickness of one millimeter. The components can be cut out from a sheet of aluminum with a laser cutter, after which the flanges can be bent. = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 408 2011-12-02T14:40:10Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === It is important to keep the axes of the wheels in the same horizontal plane, even after a collision. This requires a stiff central box and stiff legs. A stiff box transmits the force to the other legs. Therefore, the whole frame contributes to the absorbtion of an impact. The central box needs to be both stiff and light. This is achieved with the closed box principle. This is a box with all the material in the walls. A closed box of constant wall thickness is the stiffest and lightest design with that quantity of material within that volume. <br> The box is built up from sheet metal components, which are welded and pop riveted together. The components are loaded in their plane. This addressed the shear stiffness and the in plane bending stiffness of the sheet, which are much larger than its out of plane bending stiffness. The basic shape of the central box is a 3D octagon with a hole in the center. The ribs of the octagon plane have a length of 70 mm and the 3D object is 120 mm high. Figure 7 shows some of the its components. <br> The center of the box is a tube (1) with an inner diameter of 66 mm. Radial sheets (2) are attached to the tube. The legs are attached to these sheets via flanges (6). The radial sheets point towards the center of the tube. The sheets transfer the radial forces applied to the legs to the center of the box. This prevents unwanted torsion of the box. <br> Three edges of the radial sheets contains merlons (4). These are inserted into slots (5) and the remaining space in the slot is filled with a weld. This connects the sheets. The connection between the tube and the radial sheets fixes the radial and axial degree of freedom of the sheet. It can now be regarded as a cantilever. One end is fixed and the rest of the sheet can still bend out of its plane. A bottom (3) and a top sheet (8) (see figure 8) are added to prevent this. Also merlons are used to connect the radial sheets to the top and bottom sheet. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Central Box Open.jpg|400px|thumb|center|Figure 7: Inner structure central box.]] | [[Image:AMIGO Central Box Closed.jpg|400px|thumb|center|Figure 8: Complete central box.]] |} Finally, vertical sheets are added between the outside edges of the top and bottom sheet. This creates the closed box. Figure 8 shows such a sheet (7). The edges of the sheet are folded to form flanges. The top and bottom flanges are pop riveted (9) to the top and bottom sheet of the box. These two sheets are now firmly connected and cannot rotate with respect to each other. The left and right flange have screw clearance holes. These are aligned with the holes in the flanges of the radial sheets. Four of these sheets are positioned under 90 degrees with respect to each other. This leaves four open planes at the outside of the box. These are covered by the legs, which are bolted to the box. <br> All components of the box are made of 6061-aluminum. The sheets have a thickness of one millimeter. The components can be cut out from a sheet of aluminum with a laser cutter, after which the flanges can be bent. = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 438 2011-12-08T12:36:15Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Mechanics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === It is important to keep the axes of the wheels in the same horizontal plane, even after a collision. This requires a stiff central box and stiff legs. A stiff box transmits the force to the other legs. Therefore, the whole frame contributes to the absorbtion of an impact. The central box needs to be both stiff and light. This is achieved with the closed box principle. This is a box with all the material in the walls. A closed box of constant wall thickness is the stiffest and lightest design with that quantity of material within that volume. <br> The box is built up from sheet metal components, which are welded and pop riveted together. The components are loaded in their plane. This addressed the shear stiffness and the in plane bending stiffness of the sheet, which are much larger than its out of plane bending stiffness. The basic shape of the central box is a 3D octagon with a hole in the center. The ribs of the octagon plane have a length of 70 mm and the 3D object is 120 mm high. Figure 7 shows some of the its components. <br> The center of the box is a tube (1) with an inner diameter of 66 mm. Radial sheets (2) are attached to the tube. The legs are attached to these sheets via flanges (6). The radial sheets point towards the center of the tube. The sheets transfer the radial forces applied to the legs to the center of the box. This prevents unwanted torsion of the box. <br> Three edges of the radial sheets contains merlons (4). These are inserted into slots (5) and the remaining space in the slot is filled with a weld. This connects the sheets. The connection between the tube and the radial sheets fixes the radial and axial degree of freedom of the sheet. It can now be regarded as a cantilever. One end is fixed and the rest of the sheet can still bend out of its plane. A bottom (3) and a top sheet (8) (see figure 8) are added to prevent this. Also merlons are used to connect the radial sheets to the top and bottom sheet. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Central Box Open.jpg|400px|thumb|center|Figure 7: Inner structure central box.]] | [[Image:AMIGO Central Box Closed.jpg|400px|thumb|center|Figure 8: Complete central box.]] |} Finally, vertical sheets are added between the outside edges of the top and bottom sheet. This creates the closed box. Figure 8 shows such a sheet (7). The edges of the sheet are folded to form flanges. The top and bottom flanges are pop riveted (9) to the top and bottom sheet of the box. These two sheets are now firmly connected and cannot rotate with respect to each other. The left and right flange have screw clearance holes. These are aligned with the holes in the flanges of the radial sheets. Four of these sheets are positioned under 90 degrees with respect to each other. This leaves four open planes at the outside of the box. These are covered by the legs, which are bolted to the box. <br> All components of the box are made of 6061-aluminum. The sheets have a thickness of one millimeter. The components can be cut out from a sheet of aluminum with a laser cutter, after which the flanges can be bent. Above the central box we got the upper base. This part of the base is developed to make sure there is a good guide of the lifting mechanism. The guidance tube (1) is aligned above the central box to guide the spindle tube. The guidance tube is bolted to the upper bearing clamp (2) and the lower bearing clamp (3) which is mounted to the tube front (8) and back (5) panel. These panels are bolted to the legs using two M5x12 bolts per leg. The cable chain is protected by the cable shielding (4) which is bolted to the tube back panel, which also provides space for the cable chain to be stored when AMIGO is in its low position. The tube front and back panel are reinforced using 4 tube inner (9) and outter (6) reinforcement panels. The reinforcement panels on the sides and the back also provide space for the sliding strips of the [[AMIGO Torso| torso]] to pass through which are connected to the central box. Finally, four 48V DC convertors (7) are mounted to the tube front and back panel. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Base Open.jpg|400px|thumb|center|Figure 9: The upper base with the front tube panel and its attached components removed.]] | [[Image:AMIGO Upper Base Closed.jpg|400px|thumb|center|Figure 10: The upper base with the front tube panel made transparant in order to give a better understanding of the structure.]] |} = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 474 2011-12-19T12:13:21Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Specifications = ''(Coming Soon)'' = Mechanics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === It is important to keep the axes of the wheels in the same horizontal plane, even after a collision. This requires a stiff central box and stiff legs. A stiff box transmits the force to the other legs. Therefore, the whole frame contributes to the absorbtion of an impact. The central box needs to be both stiff and light. This is achieved with the closed box principle. This is a box with all the material in the walls. A closed box of constant wall thickness is the stiffest and lightest design with that quantity of material within that volume. <br> The box is built up from sheet metal components, which are welded and pop riveted together. The components are loaded in their plane. This addressed the shear stiffness and the in plane bending stiffness of the sheet, which are much larger than its out of plane bending stiffness. The basic shape of the central box is a 3D octagon with a hole in the center. The ribs of the octagon plane have a length of 70 mm and the 3D object is 120 mm high. Figure 7 shows some of the its components. <br> The center of the box is a tube (1) with an inner diameter of 66 mm. Radial sheets (2) are attached to the tube. The legs are attached to these sheets via flanges (6). The radial sheets point towards the center of the tube. The sheets transfer the radial forces applied to the legs to the center of the box. This prevents unwanted torsion of the box. <br> Three edges of the radial sheets contains merlons (4). These are inserted into slots (5) and the remaining space in the slot is filled with a weld. This connects the sheets. The connection between the tube and the radial sheets fixes the radial and axial degree of freedom of the sheet. It can now be regarded as a cantilever. One end is fixed and the rest of the sheet can still bend out of its plane. A bottom (3) and a top sheet (8) (see figure 8) are added to prevent this. Also merlons are used to connect the radial sheets to the top and bottom sheet. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Central Box Open.jpg|400px|thumb|center|Figure 7: Inner structure central box.]] | [[Image:AMIGO Central Box Closed.jpg|400px|thumb|center|Figure 8: Complete central box.]] |} Finally, vertical sheets are added between the outside edges of the top and bottom sheet. This creates the closed box. Figure 8 shows such a sheet (7). The edges of the sheet are folded to form flanges. The top and bottom flanges are pop riveted (9) to the top and bottom sheet of the box. These two sheets are now firmly connected and cannot rotate with respect to each other. The left and right flange have screw clearance holes. These are aligned with the holes in the flanges of the radial sheets. Four of these sheets are positioned under 90 degrees with respect to each other. This leaves four open planes at the outside of the box. These are covered by the legs, which are bolted to the box. <br> All components of the box are made of 6061-aluminum. The sheets have a thickness of one millimeter. The components can be cut out from a sheet of aluminum with a laser cutter, after which the flanges can be bent. Above the central box we got the upper base. This part of the base is developed to make sure there is a good guide of the lifting mechanism. The guidance tube (1) is aligned above the central box to guide the spindle tube. The guidance tube is bolted to the upper bearing clamp (2) and the lower bearing clamp (3) which is mounted to the tube front (8) and back (5) panel. These panels are bolted to the legs using two M5x12 bolts per leg. The cable chain is protected by the cable shielding (4) which is bolted to the tube back panel, which also provides space for the cable chain to be stored when AMIGO is in its low position. The tube front and back panel are reinforced using 4 tube inner (9) and outter (6) reinforcement panels. The reinforcement panels on the sides and the back also provide space for the sliding strips of the [[AMIGO Torso| torso]] to pass through which are connected to the central box. Finally, four 48V DC convertors (7) are mounted to the tube front and back panel. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Base Open.jpg|400px|thumb|center|Figure 9: The upper base with the front tube panel and its attached components removed.]] | [[Image:AMIGO Upper Base Closed.jpg|400px|thumb|center|Figure 10: The upper base with the front tube panel made transparant in order to give a better understanding of the structure.]] |} = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 484 2011-12-21T11:00:04Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Specifications = === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: 120.48 x 86.82 x 96.72 mm (per battery) * Weight: 1,473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Construction === * Dimensions (HxDxW): 71 x 65 x 65 cm * Weight: +/- 65 kg === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension: 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Connection === Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === LRF === Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton === Degrees of Freedom === Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 12:1 * 4x Maxon encoder: HED 5540 = Mechanics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === It is important to keep the axes of the wheels in the same horizontal plane, even after a collision. This requires a stiff central box and stiff legs. A stiff box transmits the force to the other legs. Therefore, the whole frame contributes to the absorbtion of an impact. The central box needs to be both stiff and light. This is achieved with the closed box principle. This is a box with all the material in the walls. A closed box of constant wall thickness is the stiffest and lightest design with that quantity of material within that volume. <br> The box is built up from sheet metal components, which are welded and pop riveted together. The components are loaded in their plane. This addressed the shear stiffness and the in plane bending stiffness of the sheet, which are much larger than its out of plane bending stiffness. The basic shape of the central box is a 3D octagon with a hole in the center. The ribs of the octagon plane have a length of 70 mm and the 3D object is 120 mm high. Figure 7 shows some of the its components. <br> The center of the box is a tube (1) with an inner diameter of 66 mm. Radial sheets (2) are attached to the tube. The legs are attached to these sheets via flanges (6). The radial sheets point towards the center of the tube. The sheets transfer the radial forces applied to the legs to the center of the box. This prevents unwanted torsion of the box. <br> Three edges of the radial sheets contains merlons (4). These are inserted into slots (5) and the remaining space in the slot is filled with a weld. This connects the sheets. The connection between the tube and the radial sheets fixes the radial and axial degree of freedom of the sheet. It can now be regarded as a cantilever. One end is fixed and the rest of the sheet can still bend out of its plane. A bottom (3) and a top sheet (8) (see figure 8) are added to prevent this. Also merlons are used to connect the radial sheets to the top and bottom sheet. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Central Box Open.jpg|400px|thumb|center|Figure 7: Inner structure central box.]] | [[Image:AMIGO Central Box Closed.jpg|400px|thumb|center|Figure 8: Complete central box.]] |} Finally, vertical sheets are added between the outside edges of the top and bottom sheet. This creates the closed box. Figure 8 shows such a sheet (7). The edges of the sheet are folded to form flanges. The top and bottom flanges are pop riveted (9) to the top and bottom sheet of the box. These two sheets are now firmly connected and cannot rotate with respect to each other. The left and right flange have screw clearance holes. These are aligned with the holes in the flanges of the radial sheets. Four of these sheets are positioned under 90 degrees with respect to each other. This leaves four open planes at the outside of the box. These are covered by the legs, which are bolted to the box. <br> All components of the box are made of 6061-aluminum. The sheets have a thickness of one millimeter. The components can be cut out from a sheet of aluminum with a laser cutter, after which the flanges can be bent. Above the central box we got the upper base. This part of the base is developed to make sure there is a good guide of the lifting mechanism. The guidance tube (1) is aligned above the central box to guide the spindle tube. The guidance tube is bolted to the upper bearing clamp (2) and the lower bearing clamp (3) which is mounted to the tube front (8) and back (5) panel. These panels are bolted to the legs using two M5x12 bolts per leg. The cable chain is protected by the cable shielding (4) which is bolted to the tube back panel, which also provides space for the cable chain to be stored when AMIGO is in its low position. The tube front and back panel are reinforced using 4 tube inner (9) and outter (6) reinforcement panels. The reinforcement panels on the sides and the back also provide space for the sliding strips of the [[AMIGO Torso| torso]] to pass through which are connected to the central box. Finally, four 48V DC convertors (7) are mounted to the tube front and back panel. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Base Open.jpg|400px|thumb|center|Figure 9: The upper base with the front tube panel and its attached components removed.]] | [[Image:AMIGO Upper Base Closed.jpg|400px|thumb|center|Figure 10: The upper base with the front tube panel made transparant in order to give a better understanding of the structure.]] |} = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 493 2011-12-21T12:17:51Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Specifications = === Construction === * Dimensions (HxWxD): 71 x 65 x 65 cm * Weight: +/- 65 kg === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (per battery) * Weight: 1,473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension: 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Connection === Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === LRF === Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton === Degrees of Freedom === Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 12:1 * 4x Maxon encoder: HED 5540 = Mechanics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === It is important to keep the axes of the wheels in the same horizontal plane, even after a collision. This requires a stiff central box and stiff legs. A stiff box transmits the force to the other legs. Therefore, the whole frame contributes to the absorbtion of an impact. The central box needs to be both stiff and light. This is achieved with the closed box principle. This is a box with all the material in the walls. A closed box of constant wall thickness is the stiffest and lightest design with that quantity of material within that volume. <br> The box is built up from sheet metal components, which are welded and pop riveted together. The components are loaded in their plane. This addressed the shear stiffness and the in plane bending stiffness of the sheet, which are much larger than its out of plane bending stiffness. The basic shape of the central box is a 3D octagon with a hole in the center. The ribs of the octagon plane have a length of 70 mm and the 3D object is 120 mm high. Figure 7 shows some of the its components. <br> The center of the box is a tube (1) with an inner diameter of 66 mm. Radial sheets (2) are attached to the tube. The legs are attached to these sheets via flanges (6). The radial sheets point towards the center of the tube. The sheets transfer the radial forces applied to the legs to the center of the box. This prevents unwanted torsion of the box. <br> Three edges of the radial sheets contains merlons (4). These are inserted into slots (5) and the remaining space in the slot is filled with a weld. This connects the sheets. The connection between the tube and the radial sheets fixes the radial and axial degree of freedom of the sheet. It can now be regarded as a cantilever. One end is fixed and the rest of the sheet can still bend out of its plane. A bottom (3) and a top sheet (8) (see figure 8) are added to prevent this. Also merlons are used to connect the radial sheets to the top and bottom sheet. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Central Box Open.jpg|400px|thumb|center|Figure 7: Inner structure central box.]] | [[Image:AMIGO Central Box Closed.jpg|400px|thumb|center|Figure 8: Complete central box.]] |} Finally, vertical sheets are added between the outside edges of the top and bottom sheet. This creates the closed box. Figure 8 shows such a sheet (7). The edges of the sheet are folded to form flanges. The top and bottom flanges are pop riveted (9) to the top and bottom sheet of the box. These two sheets are now firmly connected and cannot rotate with respect to each other. The left and right flange have screw clearance holes. These are aligned with the holes in the flanges of the radial sheets. Four of these sheets are positioned under 90 degrees with respect to each other. This leaves four open planes at the outside of the box. These are covered by the legs, which are bolted to the box. <br> All components of the box are made of 6061-aluminum. The sheets have a thickness of one millimeter. The components can be cut out from a sheet of aluminum with a laser cutter, after which the flanges can be bent. Above the central box we got the upper base. This part of the base is developed to make sure there is a good guide of the lifting mechanism. The guidance tube (1) is aligned above the central box to guide the spindle tube. The guidance tube is bolted to the upper bearing clamp (2) and the lower bearing clamp (3) which is mounted to the tube front (8) and back (5) panel. These panels are bolted to the legs using two M5x12 bolts per leg. The cable chain is protected by the cable shielding (4) which is bolted to the tube back panel, which also provides space for the cable chain to be stored when AMIGO is in its low position. The tube front and back panel are reinforced using 4 tube inner (9) and outter (6) reinforcement panels. The reinforcement panels on the sides and the back also provide space for the sliding strips of the [[AMIGO Torso| torso]] to pass through which are connected to the central box. Finally, four 48V DC convertors (7) are mounted to the tube front and back panel. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Base Open.jpg|400px|thumb|center|Figure 9: The upper base with the front tube panel and its attached components removed.]] | [[Image:AMIGO Upper Base Closed.jpg|400px|thumb|center|Figure 10: The upper base with the front tube panel made transparant in order to give a better understanding of the structure.]] |} = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 499 2011-12-21T12:31:00Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Specifications = === Construction === * Dimensions (HxWxD): 71 x 65 x 65 cm * Weight: +/- 35 kg === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (per battery) * Weight: 1,473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension: 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Connection === Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === LRF === Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton === Degrees of Freedom === Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 12:1 * 4x Maxon encoder: HED 5540 = Mechanics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === It is important to keep the axes of the wheels in the same horizontal plane, even after a collision. This requires a stiff central box and stiff legs. A stiff box transmits the force to the other legs. Therefore, the whole frame contributes to the absorbtion of an impact. The central box needs to be both stiff and light. This is achieved with the closed box principle. This is a box with all the material in the walls. A closed box of constant wall thickness is the stiffest and lightest design with that quantity of material within that volume. <br> The box is built up from sheet metal components, which are welded and pop riveted together. The components are loaded in their plane. This addressed the shear stiffness and the in plane bending stiffness of the sheet, which are much larger than its out of plane bending stiffness. The basic shape of the central box is a 3D octagon with a hole in the center. The ribs of the octagon plane have a length of 70 mm and the 3D object is 120 mm high. Figure 7 shows some of the its components. <br> The center of the box is a tube (1) with an inner diameter of 66 mm. Radial sheets (2) are attached to the tube. The legs are attached to these sheets via flanges (6). The radial sheets point towards the center of the tube. The sheets transfer the radial forces applied to the legs to the center of the box. This prevents unwanted torsion of the box. <br> Three edges of the radial sheets contains merlons (4). These are inserted into slots (5) and the remaining space in the slot is filled with a weld. This connects the sheets. The connection between the tube and the radial sheets fixes the radial and axial degree of freedom of the sheet. It can now be regarded as a cantilever. One end is fixed and the rest of the sheet can still bend out of its plane. A bottom (3) and a top sheet (8) (see figure 8) are added to prevent this. Also merlons are used to connect the radial sheets to the top and bottom sheet. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Central Box Open.jpg|400px|thumb|center|Figure 7: Inner structure central box.]] | [[Image:AMIGO Central Box Closed.jpg|400px|thumb|center|Figure 8: Complete central box.]] |} Finally, vertical sheets are added between the outside edges of the top and bottom sheet. This creates the closed box. Figure 8 shows such a sheet (7). The edges of the sheet are folded to form flanges. The top and bottom flanges are pop riveted (9) to the top and bottom sheet of the box. These two sheets are now firmly connected and cannot rotate with respect to each other. The left and right flange have screw clearance holes. These are aligned with the holes in the flanges of the radial sheets. Four of these sheets are positioned under 90 degrees with respect to each other. This leaves four open planes at the outside of the box. These are covered by the legs, which are bolted to the box. <br> All components of the box are made of 6061-aluminum. The sheets have a thickness of one millimeter. The components can be cut out from a sheet of aluminum with a laser cutter, after which the flanges can be bent. Above the central box we got the upper base. This part of the base is developed to make sure there is a good guide of the lifting mechanism. The guidance tube (1) is aligned above the central box to guide the spindle tube. The guidance tube is bolted to the upper bearing clamp (2) and the lower bearing clamp (3) which is mounted to the tube front (8) and back (5) panel. These panels are bolted to the legs using two M5x12 bolts per leg. The cable chain is protected by the cable shielding (4) which is bolted to the tube back panel, which also provides space for the cable chain to be stored when AMIGO is in its low position. The tube front and back panel are reinforced using 4 tube inner (9) and outter (6) reinforcement panels. The reinforcement panels on the sides and the back also provide space for the sliding strips of the [[AMIGO Torso| torso]] to pass through which are connected to the central box. Finally, four 48V DC convertors (7) are mounted to the tube front and back panel. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Base Open.jpg|400px|thumb|center|Figure 9: The upper base with the front tube panel and its attached components removed.]] | [[Image:AMIGO Upper Base Closed.jpg|400px|thumb|center|Figure 10: The upper base with the front tube panel made transparant in order to give a better understanding of the structure.]] |} = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 513 2012-01-11T12:31:33Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Specifications = === Construction === * Dimensions (HxWxD): 71 x 65 x 65 cm * Weight: +/- 44 kg === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (per battery) * Weight: 1,473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension: 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton === Degrees of Freedom === Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 12:1 * 4x Maxon encoder: HED 5540 = Mechanics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === It is important to keep the axes of the wheels in the same horizontal plane, even after a collision. This requires a stiff central box and stiff legs. A stiff box transmits the force to the other legs. Therefore, the whole frame contributes to the absorbtion of an impact. The central box needs to be both stiff and light. This is achieved with the closed box principle. This is a box with all the material in the walls. A closed box of constant wall thickness is the stiffest and lightest design with that quantity of material within that volume. <br> The box is built up from sheet metal components, which are welded and pop riveted together. The components are loaded in their plane. This addressed the shear stiffness and the in plane bending stiffness of the sheet, which are much larger than its out of plane bending stiffness. The basic shape of the central box is a 3D octagon with a hole in the center. The ribs of the octagon plane have a length of 70 mm and the 3D object is 120 mm high. Figure 7 shows some of the its components. <br> The center of the box is a tube (1) with an inner diameter of 66 mm. Radial sheets (2) are attached to the tube. The legs are attached to these sheets via flanges (6). The radial sheets point towards the center of the tube. The sheets transfer the radial forces applied to the legs to the center of the box. This prevents unwanted torsion of the box. <br> Three edges of the radial sheets contains merlons (4). These are inserted into slots (5) and the remaining space in the slot is filled with a weld. This connects the sheets. The connection between the tube and the radial sheets fixes the radial and axial degree of freedom of the sheet. It can now be regarded as a cantilever. One end is fixed and the rest of the sheet can still bend out of its plane. A bottom (3) and a top sheet (8) (see figure 8) are added to prevent this. Also merlons are used to connect the radial sheets to the top and bottom sheet. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Central Box Open.jpg|400px|thumb|center|Figure 7: Inner structure central box.]] | [[Image:AMIGO Central Box Closed.jpg|400px|thumb|center|Figure 8: Complete central box.]] |} Finally, vertical sheets are added between the outside edges of the top and bottom sheet. This creates the closed box. Figure 8 shows such a sheet (7). The edges of the sheet are folded to form flanges. The top and bottom flanges are pop riveted (9) to the top and bottom sheet of the box. These two sheets are now firmly connected and cannot rotate with respect to each other. The left and right flange have screw clearance holes. These are aligned with the holes in the flanges of the radial sheets. Four of these sheets are positioned under 90 degrees with respect to each other. This leaves four open planes at the outside of the box. These are covered by the legs, which are bolted to the box. <br> All components of the box are made of 6061-aluminum. The sheets have a thickness of one millimeter. The components can be cut out from a sheet of aluminum with a laser cutter, after which the flanges can be bent. Above the central box we got the upper base. This part of the base is developed to make sure there is a good guide of the lifting mechanism. The guidance tube (1) is aligned above the central box to guide the spindle tube. The guidance tube is bolted to the upper bearing clamp (2) and the lower bearing clamp (3) which is mounted to the tube front (8) and back (5) panel. These panels are bolted to the legs using two M5x12 bolts per leg. The cable chain is protected by the cable shielding (4) which is bolted to the tube back panel, which also provides space for the cable chain to be stored when AMIGO is in its low position. The tube front and back panel are reinforced using 4 tube inner (9) and outter (6) reinforcement panels. The reinforcement panels on the sides and the back also provide space for the sliding strips of the [[AMIGO Torso| torso]] to pass through which are connected to the central box. Finally, four 48V DC convertors (7) are mounted to the tube front and back panel. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Base Open.jpg|400px|thumb|center|Figure 9: The upper base with the front tube panel and its attached components removed.]] | [[Image:AMIGO Upper Base Closed.jpg|400px|thumb|center|Figure 10: The upper base with the front tube panel made transparant in order to give a better understanding of the structure.]] |} = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 516 2012-01-11T12:40:11Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Specifications = === Construction === * Dimensions (HxWxD): 71 x 65 x 65 cm * Weight: +/- 44 kg === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (per battery) * Weight: 1,473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension: 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB <br> Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton === Degrees of Freedom === Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 12:1 * 4x Maxon encoder: HED 5540 = Mechanics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === It is important to keep the axes of the wheels in the same horizontal plane, even after a collision. This requires a stiff central box and stiff legs. A stiff box transmits the force to the other legs. Therefore, the whole frame contributes to the absorbtion of an impact. The central box needs to be both stiff and light. This is achieved with the closed box principle. This is a box with all the material in the walls. A closed box of constant wall thickness is the stiffest and lightest design with that quantity of material within that volume. <br> The box is built up from sheet metal components, which are welded and pop riveted together. The components are loaded in their plane. This addressed the shear stiffness and the in plane bending stiffness of the sheet, which are much larger than its out of plane bending stiffness. The basic shape of the central box is a 3D octagon with a hole in the center. The ribs of the octagon plane have a length of 70 mm and the 3D object is 120 mm high. Figure 7 shows some of the its components. <br> The center of the box is a tube (1) with an inner diameter of 66 mm. Radial sheets (2) are attached to the tube. The legs are attached to these sheets via flanges (6). The radial sheets point towards the center of the tube. The sheets transfer the radial forces applied to the legs to the center of the box. This prevents unwanted torsion of the box. <br> Three edges of the radial sheets contains merlons (4). These are inserted into slots (5) and the remaining space in the slot is filled with a weld. This connects the sheets. The connection between the tube and the radial sheets fixes the radial and axial degree of freedom of the sheet. It can now be regarded as a cantilever. One end is fixed and the rest of the sheet can still bend out of its plane. A bottom (3) and a top sheet (8) (see figure 8) are added to prevent this. Also merlons are used to connect the radial sheets to the top and bottom sheet. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Central Box Open.jpg|400px|thumb|center|Figure 7: Inner structure central box.]] | [[Image:AMIGO Central Box Closed.jpg|400px|thumb|center|Figure 8: Complete central box.]] |} Finally, vertical sheets are added between the outside edges of the top and bottom sheet. This creates the closed box. Figure 8 shows such a sheet (7). The edges of the sheet are folded to form flanges. The top and bottom flanges are pop riveted (9) to the top and bottom sheet of the box. These two sheets are now firmly connected and cannot rotate with respect to each other. The left and right flange have screw clearance holes. These are aligned with the holes in the flanges of the radial sheets. Four of these sheets are positioned under 90 degrees with respect to each other. This leaves four open planes at the outside of the box. These are covered by the legs, which are bolted to the box. <br> All components of the box are made of 6061-aluminum. The sheets have a thickness of one millimeter. The components can be cut out from a sheet of aluminum with a laser cutter, after which the flanges can be bent. Above the central box we got the upper base. This part of the base is developed to make sure there is a good guide of the lifting mechanism. The guidance tube (1) is aligned above the central box to guide the spindle tube. The guidance tube is bolted to the upper bearing clamp (2) and the lower bearing clamp (3) which is mounted to the tube front (8) and back (5) panel. These panels are bolted to the legs using two M5x12 bolts per leg. The cable chain is protected by the cable shielding (4) which is bolted to the tube back panel, which also provides space for the cable chain to be stored when AMIGO is in its low position. The tube front and back panel are reinforced using 4 tube inner (9) and outter (6) reinforcement panels. The reinforcement panels on the sides and the back also provide space for the sliding strips of the [[AMIGO Torso| torso]] to pass through which are connected to the central box. Finally, four 48V DC convertors (7) are mounted to the tube front and back panel. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Base Open.jpg|400px|thumb|center|Figure 9: The upper base with the front tube panel and its attached components removed.]] | [[Image:AMIGO Upper Base Closed.jpg|400px|thumb|center|Figure 10: The upper base with the front tube panel made transparant in order to give a better understanding of the structure.]] |} = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 521 2012-01-24T13:25:00Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Specifications = === Construction === * Dimensions (HxWxD): 71 x 65 x 65 cm * Weight: +/- 44 kg === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (per battery) * Weight: 1,473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension: 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB <br> Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton === Degrees of Freedom === Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 43:1 * 4x Maxon encoder: HED 5540 = Mechanics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism <br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === It is important to keep the axes of the wheels in the same horizontal plane, even after a collision. This requires a stiff central box and stiff legs. A stiff box transmits the force to the other legs. Therefore, the whole frame contributes to the absorbtion of an impact. The central box needs to be both stiff and light. This is achieved with the closed box principle. This is a box with all the material in the walls. A closed box of constant wall thickness is the stiffest and lightest design with that quantity of material within that volume. <br> The box is built up from sheet metal components, which are welded and pop riveted together. The components are loaded in their plane. This addressed the shear stiffness and the in plane bending stiffness of the sheet, which are much larger than its out of plane bending stiffness. The basic shape of the central box is a 3D octagon with a hole in the center. The ribs of the octagon plane have a length of 70 mm and the 3D object is 120 mm high. Figure 7 shows some of the its components. <br> The center of the box is a tube (1) with an inner diameter of 66 mm. Radial sheets (2) are attached to the tube. The legs are attached to these sheets via flanges (6). The radial sheets point towards the center of the tube. The sheets transfer the radial forces applied to the legs to the center of the box. This prevents unwanted torsion of the box. <br> Three edges of the radial sheets contains merlons (4). These are inserted into slots (5) and the remaining space in the slot is filled with a weld. This connects the sheets. The connection between the tube and the radial sheets fixes the radial and axial degree of freedom of the sheet. It can now be regarded as a cantilever. One end is fixed and the rest of the sheet can still bend out of its plane. A bottom (3) and a top sheet (8) (see figure 8) are added to prevent this. Also merlons are used to connect the radial sheets to the top and bottom sheet. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Central Box Open.jpg|400px|thumb|center|Figure 7: Inner structure central box.]] | [[Image:AMIGO Central Box Closed.jpg|400px|thumb|center|Figure 8: Complete central box.]] |} Finally, vertical sheets are added between the outside edges of the top and bottom sheet. This creates the closed box. Figure 8 shows such a sheet (7). The edges of the sheet are folded to form flanges. The top and bottom flanges are pop riveted (9) to the top and bottom sheet of the box. These two sheets are now firmly connected and cannot rotate with respect to each other. The left and right flange have screw clearance holes. These are aligned with the holes in the flanges of the radial sheets. Four of these sheets are positioned under 90 degrees with respect to each other. This leaves four open planes at the outside of the box. These are covered by the legs, which are bolted to the box. <br> All components of the box are made of 6061-aluminum. The sheets have a thickness of one millimeter. The components can be cut out from a sheet of aluminum with a laser cutter, after which the flanges can be bent. Above the central box we got the upper base. This part of the base is developed to make sure there is a good guide of the lifting mechanism. The guidance tube (1) is aligned above the central box to guide the spindle tube. The guidance tube is bolted to the upper bearing clamp (2) and the lower bearing clamp (3) which is mounted to the tube front (8) and back (5) panel. These panels are bolted to the legs using two M5x12 bolts per leg. The cable chain is protected by the cable shielding (4) which is bolted to the tube back panel, which also provides space for the cable chain to be stored when AMIGO is in its low position. The tube front and back panel are reinforced using 4 tube inner (9) and outter (6) reinforcement panels. The reinforcement panels on the sides and the back also provide space for the sliding strips of the [[AMIGO Torso| torso]] to pass through which are connected to the central box. Finally, four 48V DC convertors (7) are mounted to the tube front and back panel. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Base Open.jpg|400px|thumb|center|Figure 9: The upper base with the front tube panel and its attached components removed.]] | [[Image:AMIGO Upper Base Closed.jpg|400px|thumb|center|Figure 10: The upper base with the front tube panel made transparant in order to give a better understanding of the structure.]] |} = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 523 2012-01-25T09:31:07Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Specifications = === Construction === * Dimensions (HxWxD): 71 x 65 x 65 cm * Weight: +/- 44 kg === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (per battery) * Weight: 1,473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension: 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB <br> Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton === Degrees of Freedom === Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 43:1 * 4x Maxon encoder: HED 5540 = Mechanics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism (part of the [[AMIGO Torso|torso]])<br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === It is important to keep the axes of the wheels in the same horizontal plane, even after a collision. This requires a stiff central box and stiff legs. A stiff box transmits the force to the other legs. Therefore, the whole frame contributes to the absorbtion of an impact. The central box needs to be both stiff and light. This is achieved with the closed box principle. This is a box with all the material in the walls. A closed box of constant wall thickness is the stiffest and lightest design with that quantity of material within that volume. <br> The box is built up from sheet metal components, which are welded and pop riveted together. The components are loaded in their plane. This addressed the shear stiffness and the in plane bending stiffness of the sheet, which are much larger than its out of plane bending stiffness. The basic shape of the central box is a 3D octagon with a hole in the center. The ribs of the octagon plane have a length of 70 mm and the 3D object is 120 mm high. Figure 7 shows some of the its components. <br> The center of the box is a tube (1) with an inner diameter of 66 mm. Radial sheets (2) are attached to the tube. The legs are attached to these sheets via flanges (6). The radial sheets point towards the center of the tube. The sheets transfer the radial forces applied to the legs to the center of the box. This prevents unwanted torsion of the box. <br> Three edges of the radial sheets contains merlons (4). These are inserted into slots (5) and the remaining space in the slot is filled with a weld. This connects the sheets. The connection between the tube and the radial sheets fixes the radial and axial degree of freedom of the sheet. It can now be regarded as a cantilever. One end is fixed and the rest of the sheet can still bend out of its plane. A bottom (3) and a top sheet (8) (see figure 8) are added to prevent this. Also merlons are used to connect the radial sheets to the top and bottom sheet. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Central Box Open.jpg|400px|thumb|center|Figure 7: Inner structure central box.]] | [[Image:AMIGO Central Box Closed.jpg|400px|thumb|center|Figure 8: Complete central box.]] |} Finally, vertical sheets are added between the outside edges of the top and bottom sheet. This creates the closed box. Figure 8 shows such a sheet (7). The edges of the sheet are folded to form flanges. The top and bottom flanges are pop riveted (9) to the top and bottom sheet of the box. These two sheets are now firmly connected and cannot rotate with respect to each other. The left and right flange have screw clearance holes. These are aligned with the holes in the flanges of the radial sheets. Four of these sheets are positioned under 90 degrees with respect to each other. This leaves four open planes at the outside of the box. These are covered by the legs, which are bolted to the box. <br> All components of the box are made of 6061-aluminum. The sheets have a thickness of one millimeter. The components can be cut out from a sheet of aluminum with a laser cutter, after which the flanges can be bent. Above the central box we got the upper base. This part of the base is developed to make sure there is a good guide of the lifting mechanism. The guidance tube (1) is aligned above the central box to guide the spindle tube. The guidance tube is bolted to the upper bearing clamp (2) and the lower bearing clamp (3) which is mounted to the tube front (8) and back (5) panel. These panels are bolted to the legs using two M5x12 bolts per leg. The cable chain is protected by the cable shielding (4) which is bolted to the tube back panel, which also provides space for the cable chain to be stored when AMIGO is in its low position. The tube front and back panel are reinforced using 4 tube inner (9) and outter (6) reinforcement panels. The reinforcement panels on the sides and the back also provide space for the sliding strips of the [[AMIGO Torso| torso]] to pass through which are connected to the central box. Finally, four 48V DC convertors (7) are mounted to the tube front and back panel. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Base Open.jpg|400px|thumb|center|Figure 9: The upper base with the front tube panel and its attached components removed.]] | [[Image:AMIGO Upper Base Closed.jpg|400px|thumb|center|Figure 10: The upper base with the front tube panel made transparant in order to give a better understanding of the structure.]] |} = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 578 2012-08-28T12:21:03Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Specifications = === Construction === * Dimensions (HxWxD): 71 x 65 x 65 cm * Weight: +/- 44 kg === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (per battery) * Weight: 1,473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension: 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB <br> Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton === Degrees of Freedom === Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 43:1 * 4x Maxon encoder: HED 5540 = Mechatronics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism (part of the [[AMIGO Torso|torso]])<br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === It is important to keep the axes of the wheels in the same horizontal plane, even after a collision. This requires a stiff central box and stiff legs. A stiff box transmits the force to the other legs. Therefore, the whole frame contributes to the absorbtion of an impact. The central box needs to be both stiff and light. This is achieved with the closed box principle. This is a box with all the material in the walls. A closed box of constant wall thickness is the stiffest and lightest design with that quantity of material within that volume. <br> The box is built up from sheet metal components, which are welded and pop riveted together. The components are loaded in their plane. This addressed the shear stiffness and the in plane bending stiffness of the sheet, which are much larger than its out of plane bending stiffness. The basic shape of the central box is a 3D octagon with a hole in the center. The ribs of the octagon plane have a length of 70 mm and the 3D object is 120 mm high. Figure 7 shows some of the its components. <br> The center of the box is a tube (1) with an inner diameter of 66 mm. Radial sheets (2) are attached to the tube. The legs are attached to these sheets via flanges (6). The radial sheets point towards the center of the tube. The sheets transfer the radial forces applied to the legs to the center of the box. This prevents unwanted torsion of the box. <br> Three edges of the radial sheets contains merlons (4). These are inserted into slots (5) and the remaining space in the slot is filled with a weld. This connects the sheets. The connection between the tube and the radial sheets fixes the radial and axial degree of freedom of the sheet. It can now be regarded as a cantilever. One end is fixed and the rest of the sheet can still bend out of its plane. A bottom (3) and a top sheet (8) (see figure 8) are added to prevent this. Also merlons are used to connect the radial sheets to the top and bottom sheet. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Central Box Open.jpg|400px|thumb|center|Figure 7: Inner structure central box.]] | [[Image:AMIGO Central Box Closed.jpg|400px|thumb|center|Figure 8: Complete central box.]] |} Finally, vertical sheets are added between the outside edges of the top and bottom sheet. This creates the closed box. Figure 8 shows such a sheet (7). The edges of the sheet are folded to form flanges. The top and bottom flanges are pop riveted (9) to the top and bottom sheet of the box. These two sheets are now firmly connected and cannot rotate with respect to each other. The left and right flange have screw clearance holes. These are aligned with the holes in the flanges of the radial sheets. Four of these sheets are positioned under 90 degrees with respect to each other. This leaves four open planes at the outside of the box. These are covered by the legs, which are bolted to the box. <br> All components of the box are made of 6061-aluminum. The sheets have a thickness of one millimeter. The components can be cut out from a sheet of aluminum with a laser cutter, after which the flanges can be bent. Above the central box we got the upper base. This part of the base is developed to make sure there is a good guide of the lifting mechanism. The guidance tube (1) is aligned above the central box to guide the spindle tube. The guidance tube is bolted to the upper bearing clamp (2) and the lower bearing clamp (3) which is mounted to the tube front (8) and back (5) panel. These panels are bolted to the legs using two M5x12 bolts per leg. The cable chain is protected by the cable shielding (4) which is bolted to the tube back panel, which also provides space for the cable chain to be stored when AMIGO is in its low position. The tube front and back panel are reinforced using 4 tube inner (9) and outter (6) reinforcement panels. The reinforcement panels on the sides and the back also provide space for the sliding strips of the [[AMIGO Torso| torso]] to pass through which are connected to the central box. Finally, four 48V DC convertors (7) are mounted to the tube front and back panel. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Base Open.jpg|400px|thumb|center|Figure 9: The upper base with the front tube panel and its attached components removed.]] | [[Image:AMIGO Upper Base Closed.jpg|400px|thumb|center|Figure 10: The upper base with the front tube panel made transparant in order to give a better understanding of the structure.]] |} = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 656 2012-09-19T07:34:17Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ DPF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Specifications = === Construction === * Dimensions (HxWxD): 71 x 65 x 65 cm * Weight: +/- 44 kg === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (per battery) * Weight: 1,473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension: 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB <br> Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton === Degrees of Freedom === Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 43:1 * 4x Maxon encoder: HED 5540 = Mechatronics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism (part of the [[AMIGO Torso|torso]])<br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === It is important to keep the axes of the wheels in the same horizontal plane, even after a collision. This requires a stiff central box and stiff legs. A stiff box transmits the force to the other legs. Therefore, the whole frame contributes to the absorbtion of an impact. The central box needs to be both stiff and light. This is achieved with the closed box principle. This is a box with all the material in the walls. A closed box of constant wall thickness is the stiffest and lightest design with that quantity of material within that volume. <br> The box is built up from sheet metal components, which are welded and pop riveted together. The components are loaded in their plane. This addressed the shear stiffness and the in plane bending stiffness of the sheet, which are much larger than its out of plane bending stiffness. The basic shape of the central box is a 3D octagon with a hole in the center. The ribs of the octagon plane have a length of 70 mm and the 3D object is 120 mm high. Figure 7 shows some of the its components. <br> The center of the box is a tube (1) with an inner diameter of 66 mm. Radial sheets (2) are attached to the tube. The legs are attached to these sheets via flanges (6). The radial sheets point towards the center of the tube. The sheets transfer the radial forces applied to the legs to the center of the box. This prevents unwanted torsion of the box. <br> Three edges of the radial sheets contains merlons (4). These are inserted into slots (5) and the remaining space in the slot is filled with a weld. This connects the sheets. The connection between the tube and the radial sheets fixes the radial and axial degree of freedom of the sheet. It can now be regarded as a cantilever. One end is fixed and the rest of the sheet can still bend out of its plane. A bottom (3) and a top sheet (8) (see figure 8) are added to prevent this. Also merlons are used to connect the radial sheets to the top and bottom sheet. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Central Box Open.jpg|400px|thumb|center|Figure 7: Inner structure central box.]] | [[Image:AMIGO Central Box Closed.jpg|400px|thumb|center|Figure 8: Complete central box.]] |} Finally, vertical sheets are added between the outside edges of the top and bottom sheet. This creates the closed box. Figure 8 shows such a sheet (7). The edges of the sheet are folded to form flanges. The top and bottom flanges are pop riveted (9) to the top and bottom sheet of the box. These two sheets are now firmly connected and cannot rotate with respect to each other. The left and right flange have screw clearance holes. These are aligned with the holes in the flanges of the radial sheets. Four of these sheets are positioned under 90 degrees with respect to each other. This leaves four open planes at the outside of the box. These are covered by the legs, which are bolted to the box. <br> All components of the box are made of 6061-aluminum. The sheets have a thickness of one millimeter. The components can be cut out from a sheet of aluminum with a laser cutter, after which the flanges can be bent. Above the central box we got the upper base. This part of the base is developed to make sure there is a good guide of the lifting mechanism. The guidance tube (1) is aligned above the central box to guide the spindle tube. The guidance tube is bolted to the upper bearing clamp (2) and the lower bearing clamp (3) which is mounted to the tube front (8) and back (5) panel. These panels are bolted to the legs using two M5x12 bolts per leg. The cable chain is protected by the cable shielding (4) which is bolted to the tube back panel, which also provides space for the cable chain to be stored when AMIGO is in its low position. The tube front and back panel are reinforced using 4 tube inner (9) and outter (6) reinforcement panels. The reinforcement panels on the sides and the back also provide space for the sliding strips of the [[AMIGO Torso| torso]] to pass through which are connected to the central box. Finally, four 48V DC convertors (7) are mounted to the tube front and back panel. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Base Open.jpg|400px|thumb|center|Figure 9: The upper base with the front tube panel and its attached components removed.]] | [[Image:AMIGO Upper Base Closed.jpg|400px|thumb|center|Figure 10: The upper base with the front tube panel made transparant in order to give a better understanding of the structure.]] |} = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 671 2012-09-25T12:21:13Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Specifications = === Construction === * Dimensions (HxWxD): 71 x 65 x 65 cm * Weight: +/- 44 kg === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (per battery) * Weight: 1,473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension: 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB <br> Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton === Degrees of Freedom === Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 43:1 * 4x Maxon encoder: HED 5540 = Mechatronics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism (part of the [[AMIGO Torso|torso]])<br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === It is important to keep the axes of the wheels in the same horizontal plane, even after a collision. This requires a stiff central box and stiff legs. A stiff box transmits the force to the other legs. Therefore, the whole frame contributes to the absorbtion of an impact. The central box needs to be both stiff and light. This is achieved with the closed box principle. This is a box with all the material in the walls. A closed box of constant wall thickness is the stiffest and lightest design with that quantity of material within that volume. <br> The box is built up from sheet metal components, which are welded and pop riveted together. The components are loaded in their plane. This addressed the shear stiffness and the in plane bending stiffness of the sheet, which are much larger than its out of plane bending stiffness. The basic shape of the central box is a 3D octagon with a hole in the center. The ribs of the octagon plane have a length of 70 mm and the 3D object is 120 mm high. Figure 7 shows some of the its components. <br> The center of the box is a tube (1) with an inner diameter of 66 mm. Radial sheets (2) are attached to the tube. The legs are attached to these sheets via flanges (6). The radial sheets point towards the center of the tube. The sheets transfer the radial forces applied to the legs to the center of the box. This prevents unwanted torsion of the box. <br> Three edges of the radial sheets contains merlons (4). These are inserted into slots (5) and the remaining space in the slot is filled with a weld. This connects the sheets. The connection between the tube and the radial sheets fixes the radial and axial degree of freedom of the sheet. It can now be regarded as a cantilever. One end is fixed and the rest of the sheet can still bend out of its plane. A bottom (3) and a top sheet (8) (see figure 8) are added to prevent this. Also merlons are used to connect the radial sheets to the top and bottom sheet. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Central Box Open.jpg|400px|thumb|center|Figure 7: Inner structure central box.]] | [[Image:AMIGO Central Box Closed.jpg|400px|thumb|center|Figure 8: Complete central box.]] |} Finally, vertical sheets are added between the outside edges of the top and bottom sheet. This creates the closed box. Figure 8 shows such a sheet (7). The edges of the sheet are folded to form flanges. The top and bottom flanges are pop riveted (9) to the top and bottom sheet of the box. These two sheets are now firmly connected and cannot rotate with respect to each other. The left and right flange have screw clearance holes. These are aligned with the holes in the flanges of the radial sheets. Four of these sheets are positioned under 90 degrees with respect to each other. This leaves four open planes at the outside of the box. These are covered by the legs, which are bolted to the box. <br> All components of the box are made of 6061-aluminum. The sheets have a thickness of one millimeter. The components can be cut out from a sheet of aluminum with a laser cutter, after which the flanges can be bent. Above the central box we got the upper base. This part of the base is developed to make sure there is a good guide of the lifting mechanism. The guidance tube (1) is aligned above the central box to guide the spindle tube. The guidance tube is bolted to the upper bearing clamp (2) and the lower bearing clamp (3) which is mounted to the tube front (8) and back (5) panel. These panels are bolted to the legs using two M5x12 bolts per leg. The cable chain is protected by the cable shielding (4) which is bolted to the tube back panel, which also provides space for the cable chain to be stored when AMIGO is in its low position. The tube front and back panel are reinforced using 4 tube inner (9) and outter (6) reinforcement panels. The reinforcement panels on the sides and the back also provide space for the sliding strips of the [[AMIGO Torso| torso]] to pass through which are connected to the central box. Finally, four 48V DC convertors (7) are mounted to the tube front and back panel. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Base Open.jpg|400px|thumb|center|Figure 9: The upper base with the front tube panel and its attached components removed.]] | [[Image:AMIGO Upper Base Closed.jpg|400px|thumb|center|Figure 10: The upper base with the front tube panel made transparant in order to give a better understanding of the structure.]] |} = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 714 2012-12-17T09:27:02Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Base https://rop.wtb.tue.nl/svn/rop/AMIGO/Base] * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Specifications = === Construction === * Dimensions (HxWxD): 71 x 65 x 65 cm * Weight: +/- 44 kg === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (per battery) * Weight: 1,473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension: 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB <br> Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton === Degrees of Freedom === Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 43:1 * 4x Maxon encoder: HED 5540 = Mechatronics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism (part of the [[AMIGO Torso|torso]])<br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === It is important to keep the axes of the wheels in the same horizontal plane, even after a collision. This requires a stiff central box and stiff legs. A stiff box transmits the force to the other legs. Therefore, the whole frame contributes to the absorbtion of an impact. The central box needs to be both stiff and light. This is achieved with the closed box principle. This is a box with all the material in the walls. A closed box of constant wall thickness is the stiffest and lightest design with that quantity of material within that volume. <br> The box is built up from sheet metal components, which are welded and pop riveted together. The components are loaded in their plane. This addressed the shear stiffness and the in plane bending stiffness of the sheet, which are much larger than its out of plane bending stiffness. The basic shape of the central box is a 3D octagon with a hole in the center. The ribs of the octagon plane have a length of 70 mm and the 3D object is 120 mm high. Figure 7 shows some of the its components. <br> The center of the box is a tube (1) with an inner diameter of 66 mm. Radial sheets (2) are attached to the tube. The legs are attached to these sheets via flanges (6). The radial sheets point towards the center of the tube. The sheets transfer the radial forces applied to the legs to the center of the box. This prevents unwanted torsion of the box. <br> Three edges of the radial sheets contains merlons (4). These are inserted into slots (5) and the remaining space in the slot is filled with a weld. This connects the sheets. The connection between the tube and the radial sheets fixes the radial and axial degree of freedom of the sheet. It can now be regarded as a cantilever. One end is fixed and the rest of the sheet can still bend out of its plane. A bottom (3) and a top sheet (8) (see figure 8) are added to prevent this. Also merlons are used to connect the radial sheets to the top and bottom sheet. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Central Box Open.jpg|400px|thumb|center|Figure 7: Inner structure central box.]] | [[Image:AMIGO Central Box Closed.jpg|400px|thumb|center|Figure 8: Complete central box.]] |} Finally, vertical sheets are added between the outside edges of the top and bottom sheet. This creates the closed box. Figure 8 shows such a sheet (7). The edges of the sheet are folded to form flanges. The top and bottom flanges are pop riveted (9) to the top and bottom sheet of the box. These two sheets are now firmly connected and cannot rotate with respect to each other. The left and right flange have screw clearance holes. These are aligned with the holes in the flanges of the radial sheets. Four of these sheets are positioned under 90 degrees with respect to each other. This leaves four open planes at the outside of the box. These are covered by the legs, which are bolted to the box. <br> All components of the box are made of 6061-aluminum. The sheets have a thickness of one millimeter. The components can be cut out from a sheet of aluminum with a laser cutter, after which the flanges can be bent. Above the central box we got the upper base. This part of the base is developed to make sure there is a good guide of the lifting mechanism. The guidance tube (1) is aligned above the central box to guide the spindle tube. The guidance tube is bolted to the upper bearing clamp (2) and the lower bearing clamp (3) which is mounted to the tube front (8) and back (5) panel. These panels are bolted to the legs using two M5x12 bolts per leg. The cable chain is protected by the cable shielding (4) which is bolted to the tube back panel, which also provides space for the cable chain to be stored when AMIGO is in its low position. The tube front and back panel are reinforced using 4 tube inner (9) and outter (6) reinforcement panels. The reinforcement panels on the sides and the back also provide space for the sliding strips of the [[AMIGO Torso| torso]] to pass through which are connected to the central box. Finally, four 48V DC convertors (7) are mounted to the tube front and back panel. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Base Open.jpg|400px|thumb|center|Figure 9: The upper base with the front tube panel and its attached components removed.]] | [[Image:AMIGO Upper Base Closed.jpg|400px|thumb|center|Figure 10: The upper base with the front tube panel made transparant in order to give a better understanding of the structure.]] |} = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 721 2013-02-18T12:52:07Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Base https://robotics.wtb.tue.nl/svn/rop/AMIGO/Base] * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Specifications = === Construction === * Dimensions (HxWxD): 71 x 65 x 65 cm * Weight: +/- 44 kg === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (per battery) * Weight: 1,473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension: 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB <br> Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton === Degrees of Freedom === Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 43:1 * 4x Maxon encoder: HED 5540 = Mechatronics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism (part of the [[AMIGO Torso|torso]])<br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === It is important to keep the axes of the wheels in the same horizontal plane, even after a collision. This requires a stiff central box and stiff legs. A stiff box transmits the force to the other legs. Therefore, the whole frame contributes to the absorbtion of an impact. The central box needs to be both stiff and light. This is achieved with the closed box principle. This is a box with all the material in the walls. A closed box of constant wall thickness is the stiffest and lightest design with that quantity of material within that volume. <br> The box is built up from sheet metal components, which are welded and pop riveted together. The components are loaded in their plane. This addressed the shear stiffness and the in plane bending stiffness of the sheet, which are much larger than its out of plane bending stiffness. The basic shape of the central box is a 3D octagon with a hole in the center. The ribs of the octagon plane have a length of 70 mm and the 3D object is 120 mm high. Figure 7 shows some of the its components. <br> The center of the box is a tube (1) with an inner diameter of 66 mm. Radial sheets (2) are attached to the tube. The legs are attached to these sheets via flanges (6). The radial sheets point towards the center of the tube. The sheets transfer the radial forces applied to the legs to the center of the box. This prevents unwanted torsion of the box. <br> Three edges of the radial sheets contains merlons (4). These are inserted into slots (5) and the remaining space in the slot is filled with a weld. This connects the sheets. The connection between the tube and the radial sheets fixes the radial and axial degree of freedom of the sheet. It can now be regarded as a cantilever. One end is fixed and the rest of the sheet can still bend out of its plane. A bottom (3) and a top sheet (8) (see figure 8) are added to prevent this. Also merlons are used to connect the radial sheets to the top and bottom sheet. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Central Box Open.jpg|400px|thumb|center|Figure 7: Inner structure central box.]] | [[Image:AMIGO Central Box Closed.jpg|400px|thumb|center|Figure 8: Complete central box.]] |} Finally, vertical sheets are added between the outside edges of the top and bottom sheet. This creates the closed box. Figure 8 shows such a sheet (7). The edges of the sheet are folded to form flanges. The top and bottom flanges are pop riveted (9) to the top and bottom sheet of the box. These two sheets are now firmly connected and cannot rotate with respect to each other. The left and right flange have screw clearance holes. These are aligned with the holes in the flanges of the radial sheets. Four of these sheets are positioned under 90 degrees with respect to each other. This leaves four open planes at the outside of the box. These are covered by the legs, which are bolted to the box. <br> All components of the box are made of 6061-aluminum. The sheets have a thickness of one millimeter. The components can be cut out from a sheet of aluminum with a laser cutter, after which the flanges can be bent. Above the central box we got the upper base. This part of the base is developed to make sure there is a good guide of the lifting mechanism. The guidance tube (1) is aligned above the central box to guide the spindle tube. The guidance tube is bolted to the upper bearing clamp (2) and the lower bearing clamp (3) which is mounted to the tube front (8) and back (5) panel. These panels are bolted to the legs using two M5x12 bolts per leg. The cable chain is protected by the cable shielding (4) which is bolted to the tube back panel, which also provides space for the cable chain to be stored when AMIGO is in its low position. The tube front and back panel are reinforced using 4 tube inner (9) and outter (6) reinforcement panels. The reinforcement panels on the sides and the back also provide space for the sliding strips of the [[AMIGO Torso| torso]] to pass through which are connected to the central box. Finally, four 48V DC convertors (7) are mounted to the tube front and back panel. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Base Open.jpg|400px|thumb|center|Figure 9: The upper base with the front tube panel and its attached components removed.]] | [[Image:AMIGO Upper Base Closed.jpg|400px|thumb|center|Figure 10: The upper base with the front tube panel made transparant in order to give a better understanding of the structure.]] |} = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 801 2014-02-03T15:44:27Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Base https://robotics.wtb.tue.nl/svn/rop/AMIGO/Base] * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Specifications = === Construction === * Dimensions (HxWxD): 71 x 65 x 65 cm * Weight: +/- 44 kg === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (per battery) * Weight: 1,473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension: 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB <br> Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton === Degrees of Freedom === Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 43:1 * 4x Maxon encoder: HED 5540 = Mechatronics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism (part of the [[AMIGO Torso|torso]])<br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === It is important to keep the axes of the wheels in the same horizontal plane, even after a collision. This requires a stiff central box and stiff legs. A stiff box transmits the force to the other legs. Therefore, the whole frame contributes to the absorbtion of an impact. The central box needs to be both stiff and light. This is achieved with the closed box principle. This is a box with all the material in the walls. A closed box of constant wall thickness is the stiffest and lightest design with that quantity of material within that volume. <br> The box is built up from sheet metal components, which are welded and pop riveted together. The components are loaded in their plane. This addressed the shear stiffness and the in plane bending stiffness of the sheet, which are much larger than its out of plane bending stiffness. The basic shape of the central box is a 3D octagon with a hole in the center. The ribs of the octagon plane have a length of 70 mm and the 3D object is 120 mm high. Figure 7 shows some of the its components. <br> The center of the box is a tube (1) with an inner diameter of 66 mm. Radial sheets (2) are attached to the tube. The legs are attached to these sheets via flanges (6). The radial sheets point towards the center of the tube. The sheets transfer the radial forces applied to the legs to the center of the box. This prevents unwanted torsion of the box. <br> Three edges of the radial sheets contains merlons (4). These are inserted into slots (5) and the remaining space in the slot is filled with a weld. This connects the sheets. The connection between the tube and the radial sheets fixes the radial and axial degree of freedom of the sheet. It can now be regarded as a cantilever. One end is fixed and the rest of the sheet can still bend out of its plane. A bottom (3) and a top sheet (8) (see figure 8) are added to prevent this. Also merlons are used to connect the radial sheets to the top and bottom sheet. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Central Box Open.jpg|400px|thumb|center|Figure 7: Inner structure central box.]] | [[Image:AMIGO Central Box Closed.jpg|400px|thumb|center|Figure 8: Complete central box.]] |} Finally, vertical sheets are added between the outside edges of the top and bottom sheet. This creates the closed box. Figure 8 shows such a sheet (7). The edges of the sheet are folded to form flanges. The top and bottom flanges are pop riveted (9) to the top and bottom sheet of the box. These two sheets are now firmly connected and cannot rotate with respect to each other. The left and right flange have screw clearance holes. These are aligned with the holes in the flanges of the radial sheets. Four of these sheets are positioned under 90 degrees with respect to each other. This leaves four open planes at the outside of the box. These are covered by the legs, which are bolted to the box. <br> All components of the box are made of 6061-aluminum. The sheets have a thickness of one millimeter. The components can be cut out from a sheet of aluminum with a laser cutter, after which the flanges can be bent. Above the central box we got the upper base. This part of the base is developed to make sure there is a good guide of the lifting mechanism. The guidance tube (1) is aligned above the central box to guide the spindle tube. The guidance tube is bolted to the upper bearing clamp (2) and the lower bearing clamp (3) which is mounted to the tube front (8) and back (5) panel. These panels are bolted to the legs using two M5x12 bolts per leg. The cable chain is protected by the cable shielding (4) which is bolted to the tube back panel, which also provides space for the cable chain to be stored when AMIGO is in its low position. The tube front and back panel are reinforced using 4 tube inner (9) and outter (6) reinforcement panels. The reinforcement panels on the sides and the back also provide space for the sliding strips of the [[AMIGO Torso| torso]] to pass through which are connected to the central box. Finally, four 48V DC convertors (7) are mounted to the tube front and back panel. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Base Open.jpg|400px|thumb|center|Figure 9: The upper base with the front tube panel and its attached components removed.]] | [[Image:AMIGO Upper Base Closed.jpg|400px|thumb|center|Figure 10: The upper base with the front tube panel made transparant in order to give a better understanding of the structure.]] |} = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1098 2022-08-11T12:37:41Z Fruitcake 1 Update new ROP repository location {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/Base/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/Base/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/Base https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/Base] * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] = Overview = '''Under Construction''' <br> Figure 1 shows the CAD model of the fully assembled base. [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] = Specifications = === Construction === * Dimensions (HxWxD): 71 x 65 x 65 cm * Weight: +/- 44 kg === Electrical === x4 Makita Ni-MH (BH2433) batteries. * Type: Ni-MH * Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (per battery) * Weight: 1,473 kg (per battery) * Capacity: 3.3 Ah * Voltage: 24 V * Autonomy: 15 min (active use) 30 min (normale use) === Computer === Three on-board PCs <br> AOpen DE57-HA: * Dimension: 166 x 48 x 157 mm * Weight: 1.22 kg * CPU: Intel Core i5 * Memory: 8GB DDR3 1066MHz * LAN: Intel Gigabit Ethernet * USB: USB 2.0 Port x 4 * Storage: S-ATA 500Gb * Power: 90W max === Communication === USB <br> Gigabit Ethernet * Cisco Linksys E2000 router * Gigabit Ethernet switch EtherCAT Network * 1 kHz Control to Base Motors * Trigger signal from Laser Scanner * Diagnostic signals from robot vitals * Expandable with further Beckhoff modules === Vision === LRF <br> Hokuyo UTM-30LX * Power: source 12V +/- 10% * Current: consumption 0.7A (max. 1.0 A) * Detection range: 0.1 to approx. 60m (<30m guaranteed) * Laser wavelength: 870 nm, Class 1 * Scan angle: 270 degrees * Scan time: 0.025 s/scan (40.0 Hz) * Angular resolution: 0.25 degrees * Interface: USB 2.0 with trigger port * Weight: 0.233 kg * Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ / Phyton === Degrees of Freedom === Omni Directional Base * Omniwheels: 4 driven * Speed: 1 m/s === Motor Specifications === Drive motors * 4x Maxon RE40 24 V * 4x Maxon Planetary gearhead 42 C 43:1 * 4x Maxon encoder: HED 5540 = Mechatronics = === Base Plate === Figure 2 shows the base plate of Amigo. It is a milled aluminum part. The main part (1) consists of a bottom plate and raised edges at the perimeter of the plate. The plate has a thickness of 5 mm and the raised edges are 25 mm high. The wheel protectors (2) are bolted to the raised edges. The same holds for the round edge protectors (7). Blocks (3) and (4) are used to clamp the batteries to the base plate. Blocks (3) are part of (1), so they are milled from the same piece of aluminum. Blocks (4) are loose parts, which are bolted to blocks (3). The design of the battery clamps is not completely finished yet. The electronic connector is not in it. The mounting point for this is not designed yet. But it is intended to be equal to the mounting point in the Turtle. [[Image:AMIGO Empty Base Plate.jpg|600 px|thumb|center|Figure 2: The base plate of Amigo.]] A hole (5) is made in the centre of the base plate. This hole provides access to the tooth belt. The hole is covered from the bottom side by a 2 mm aluminum plate that is bolted to the base plate with counter sunk M3 bolts. The array of holes (6) is used for cooling of the PC which is positioned above it. Air can flow through the hole into the PC. === Electronic Components Mounted on the Base Plate === Figure 3 shows the positioning of the electronic components that are mounted on the base plate. More information about the electronic components will be given in the electronics chapter. The components are: <br> 1. The batteries <br> 2. Industrial [http://www.beckhoff.com/ Beckhoff] PCs with its stock mounting plate and a support unit that is used to connect it to the base plate. <br> 3. EtherCAT stacks <br> 4. Amplifier for the lifting mechanism (part of the [[AMIGO Torso|torso]])<br> 5. Encoder collection print <br> 6. Fuse print <br> 7. 3 DC/DC power converters <br> 8. Laser Range Finder mounted to a beam via a 5mm thick aluminum plate. The 105mm long beam is bolted to the front edge protector (denoted (7) in figure 2) <br> 9. Main relay <br> [[Image:AMIGO Base Plate With Electronics.jpg|600 px|thumb|center|Figure 3: Electronic components that are mounted on the base plate.]] === Omniwheels === Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. [[Image:AMIGO Omniwheel Exploded View.jpg|550 px|thumb|center|Figure 4: Exploded view of a omniwheel.]] === Leg === The U profile (1) has flanges at the upper and lower edge of the front plate. The lower flange connects the front plate to the motor support. The upper flange (2) is used for the connection of the upper half of the frame. The rear end plate (3) is inserted between the side plates of the U profile. This plate forms the vertical back plate and the horizontal top plate of the leg. Flanges with holes (4) are added to the vertical plate. These align with the large holes in the side plates. Rivnuts are inserted in these holes and connect the rear end plate to the side plates. The rivnuts provide the threaded holes required to bolt the leg to the central box. They are countersank in the side plates to create a flat outer surface. The flange at the end of the horizonal top plate (6) is also used for the connection of the upper half of the frame. In the cross section view of figure 5 it can be seen that a plate can be inserted between the U profile’s upper flange (2) and the top plate flange. The holes in both flanges align. Rivnuts are inserted in the holes of the top plate flange. They provide the necessary threaded holes to bolt the inserted plate to the leg. This plate presses on top of the leg. To prevent the top plate from bending, two horizontal flanges (5) are added. These are pop riveted (10) to the side plates. The top of the leg is closed by the connection plate (7). This is pop riveted to the front plate of the U profile and to the top plate. A rear plate (8) closes the box. The connection to the U profile is similar to the connections used in the central box. An internal plate (9) is added to provide extra torsional stiffness to the box. Finally, the motor support is glued between the side plates of the U profile. The sheet metal components of the leg are made of two millimeter aluminum sheets. They can be cut with a laser cutter. [[Image:AMIGO Exploded View Leg.jpg|600 px|thumb|center|Figure 5: Exploded view (left) and cross section view (right) of the leg.]] Figure 6 shows the exploded view of one leg with the position of the omniwheel (1) which is attached to the motor (4). Figure 6 shows the assembled motor with an encoder mounted to the back and a gear head at the front. This assembly is inserted in the motor support (2) It must be possible to remove the motor assembly from the completed robot, if this should be necessary. Therefore, it is axially inserted in the motor support. The support is a milled 6061 aluminum part. The motor clamp (3) is positioned over the motor assembly. Two M5 bolts tighten the clamp to the motor support. The motor assembly is clamped radially at the gear head. Finally an amplifier (5) for the motor is bolted to the rear plate. [[Image:AMIGO Exploded View Leg Complete.jpg|600 px|thumb|center|Figure 6: Exploded view of the leg with its actuators attached.]] === Central Box === It is important to keep the axes of the wheels in the same horizontal plane, even after a collision. This requires a stiff central box and stiff legs. A stiff box transmits the force to the other legs. Therefore, the whole frame contributes to the absorbtion of an impact. The central box needs to be both stiff and light. This is achieved with the closed box principle. This is a box with all the material in the walls. A closed box of constant wall thickness is the stiffest and lightest design with that quantity of material within that volume. <br> The box is built up from sheet metal components, which are welded and pop riveted together. The components are loaded in their plane. This addressed the shear stiffness and the in plane bending stiffness of the sheet, which are much larger than its out of plane bending stiffness. The basic shape of the central box is a 3D octagon with a hole in the center. The ribs of the octagon plane have a length of 70 mm and the 3D object is 120 mm high. Figure 7 shows some of the its components. <br> The center of the box is a tube (1) with an inner diameter of 66 mm. Radial sheets (2) are attached to the tube. The legs are attached to these sheets via flanges (6). The radial sheets point towards the center of the tube. The sheets transfer the radial forces applied to the legs to the center of the box. This prevents unwanted torsion of the box. <br> Three edges of the radial sheets contains merlons (4). These are inserted into slots (5) and the remaining space in the slot is filled with a weld. This connects the sheets. The connection between the tube and the radial sheets fixes the radial and axial degree of freedom of the sheet. It can now be regarded as a cantilever. One end is fixed and the rest of the sheet can still bend out of its plane. A bottom (3) and a top sheet (8) (see figure 8) are added to prevent this. Also merlons are used to connect the radial sheets to the top and bottom sheet. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Central Box Open.jpg|400px|thumb|center|Figure 7: Inner structure central box.]] | [[Image:AMIGO Central Box Closed.jpg|400px|thumb|center|Figure 8: Complete central box.]] |} Finally, vertical sheets are added between the outside edges of the top and bottom sheet. This creates the closed box. Figure 8 shows such a sheet (7). The edges of the sheet are folded to form flanges. The top and bottom flanges are pop riveted (9) to the top and bottom sheet of the box. These two sheets are now firmly connected and cannot rotate with respect to each other. The left and right flange have screw clearance holes. These are aligned with the holes in the flanges of the radial sheets. Four of these sheets are positioned under 90 degrees with respect to each other. This leaves four open planes at the outside of the box. These are covered by the legs, which are bolted to the box. <br> All components of the box are made of 6061-aluminum. The sheets have a thickness of one millimeter. The components can be cut out from a sheet of aluminum with a laser cutter, after which the flanges can be bent. Above the central box we got the upper base. This part of the base is developed to make sure there is a good guide of the lifting mechanism. The guidance tube (1) is aligned above the central box to guide the spindle tube. The guidance tube is bolted to the upper bearing clamp (2) and the lower bearing clamp (3) which is mounted to the tube front (8) and back (5) panel. These panels are bolted to the legs using two M5x12 bolts per leg. The cable chain is protected by the cable shielding (4) which is bolted to the tube back panel, which also provides space for the cable chain to be stored when AMIGO is in its low position. The tube front and back panel are reinforced using 4 tube inner (9) and outter (6) reinforcement panels. The reinforcement panels on the sides and the back also provide space for the sliding strips of the [[AMIGO Torso| torso]] to pass through which are connected to the central box. Finally, four 48V DC convertors (7) are mounted to the tube front and back panel. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Base Open.jpg|400px|thumb|center|Figure 9: The upper base with the front tube panel and its attached components removed.]] | [[Image:AMIGO Upper Base Closed.jpg|400px|thumb|center|Figure 10: The upper base with the front tube panel made transparant in order to give a better understanding of the structure.]] |} = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 13 42 2011-10-26T18:13:27Z P.M.G. Metsemakers 2 Created page with "{| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan;..." {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Upper Body|Upper Body]] | [[AMIGO Arms|Arms]] | [[AMIGO Lifting Mechanism|Lifting Mechanism]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = 46 2011-11-09T08:46:31Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Upper Body|Upper Body]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = 51 2011-11-09T10:07:10Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = 64 2011-11-21T10:03:15Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows AMIGO's head. [[Image:Head Exploded View.jpg|600px|thumb|center|Figure 1:The exploded view of |AMIGO's head]] Microsoft's Kinect (1) is used to visualize the the robots environment. It's mounted to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down.<br> In order to look to the sides a second Dynamixel Rx-28 is used (5). Both Dynamixels are connected using a FR07-S101 frame (4). 70 2011-11-21T10:45:39Z P.M.G. Metsemakers 2 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows AMIGO's head. [[Image:Head Exploded View.jpg|600px|thumb|center|Figure 1:The exploded view of |AMIGO's head]] In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. <br> Microsoft's Kinect (1) is used to visualize the the robots environment. It's mounted to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down.<br> In order to look to the sides a second Dynamixel Rx-28 is used (5). Both Dynamixels are connected using a FR07-S101 frame (4). 71 2011-11-21T10:46:06Z P.M.G. Metsemakers 2 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows AMIGO's head. [[Image:Head Exploded View.jpg|600px|thumb|center|Figure 1:The exploded view of |AMIGO's head]] In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. <br> It's mounted to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down.<br> In order to look to the sides a second Dynamixel Rx-28 is used (5). Both Dynamixels are connected using a FR07-S101 frame (4). 72 2011-11-21T10:46:31Z P.M.G. Metsemakers 2 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows AMIGO's head. [[Image:Head Exploded View.jpg|700px|thumb|center|Figure 1:The exploded view of |AMIGO's head]] In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. <br> It's mounted to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down.<br> In order to look to the sides a second Dynamixel Rx-28 is used (5). Both Dynamixels are connected using a FR07-S101 frame (4). 75 2011-11-21T10:50:39Z P.M.G. Metsemakers 2 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows AMIGO's head. [[Image:Head Exploded View.jpg|700px|thumb|center|Figure 1:The exploded view of AMIGO's head]] In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. <br> It's mounted to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down.<br> In order to look to the sides a second Dynamixel Rx-28 is used (5). Both Dynamixels are connected using a FR07-S101 frame (4). 93 2011-11-21T13:00:47Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows AMIGO's head. [[Image:Head Exploded View.jpg|700px|thumb|center|Figure 1:The exploded view of AMIGO's head]] In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. <br> It's mounted to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down.<br> In order to look to the sides a second Dynamixel Rx-28 is used (5). Both Dynamixels are connected using a FR07-S101 frame (4). Figure 2 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|700px|thumb|center|Figure 2:Mounting of the Head to the torso]] 94 2011-11-21T13:01:14Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows AMIGO's head. [[Image:Head Exploded View.jpg|700px|thumb|center|Figure 1:The exploded view of AMIGO's head]] In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. <br> It's mounted to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 is used (5). Both Dynamixels are connected using a FR07-S101 frame (4). Figure 2 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|700px|thumb|center|Figure 2:Mounting of the Head to the torso]] 95 2011-11-21T13:01:49Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows AMIGO's head. [[Image:Head Exploded View.jpg|700px|thumb|center|Figure 1:The exploded view of AMIGO's head]] In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. <br> It's mounted to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 is used (5). Both Dynamixels are connected using a FR07-S101 frame (4). Figure 2 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|700px|thumb|center|Figure 2:Mounting of the Head to the torso]] 96 2011-11-21T13:02:09Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows AMIGO's head. [[Image:Head Exploded View.jpg|700px|thumb|center|Figure 1:The exploded view of AMIGO's head]] In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. <br> It's mounted to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 is used (5). Both Dynamixels are connected using a FR07-S101 frame (4). Figure 2 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|700px|thumb|center|Figure 2:Mounting of the Head to the torso]] 97 2011-11-21T13:02:29Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows AMIGO's head. [[Image:Head Exploded View.jpg|700px|thumb|center|Figure 1:The exploded view of AMIGO's head]] In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. <br> It's mounted to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 is used (5). Both Dynamixels are connected using a FR07-S101 frame (4). Figure 2 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|700px|thumb|center|Figure 2:Mounting of the Head to the torso]] 109 2011-11-21T13:32:16Z P.M.G. Metsemakers 2 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = Figure 1 shows AMIGO's head. [[Image:Head Exploded View.jpg|500px|thumb|center|Figure 1:The exploded view of AMIGO's head]] In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. <br> It's mounted to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 is used (5). Both Dynamixels are connected using a FR07-S101 frame (4). Figure 2 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 2:Mounting of the Head to the torso]] 122 2011-11-22T14:18:48Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = = Assembly of the Head = Figure 1 shows AMIGO's head. [[Image:Head Exploded View.jpg|500px|thumb|center|Figure 1:The exploded view of AMIGO's head]] In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. <br> It's mounted to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 is used (5). Both Dynamixels are connected using a FR07-S101 frame (4). Figure 2 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 2:Mounting of the Head to the torso]] 125 2011-11-22T14:31:36Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. = Assembly of the Head = Figure 1 shows AMIGO's head. [[Image:Head Exploded View.jpg|500px|thumb|center|Figure 1:The exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 2 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 2:Mounting of the Head to the torso]] 126 2011-11-22T14:31:46Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. = Assembly of the Head = Figure 1 shows AMIGO's head. [[Image:Head Exploded View.jpg|500px|thumb|center|Figure 1:The exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 2 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 2:Mounting of the Head to the torso]] 139 2011-11-23T10:10:41Z P.M.G. Metsemakers 2 /* Assembly of the Head */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. = Assembly of the Head = Figure 1 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 1:The exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 2 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 2:Mounting of the Head to the torso]] 149 2011-11-23T12:02:58Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. = Assembly of the Head = Figure 1 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 1:The exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 2 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 2:Mounting of the Head to the torso]] 162 2011-11-23T13:25:33Z P.M.G. Metsemakers 2 /* Part Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. = Assembly of the Head = Figure 1 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 1:The exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 2 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 2:Mounting of the Head to the torso]] 166 2011-11-23T13:28:52Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/en Tech United] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. = Assembly of the Head = Figure 1 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 1:The exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 2 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 2:Mounting of the Head to the torso]] 176 2011-11-23T13:32:57Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/en Tech United] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. = Assembly of the Head = Figure 1 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 1:The exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 2 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 2:Mounting of the Head to the torso]] 178 2011-11-23T13:42:20Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/en Tech United] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembly of AMIGO's Head]] = Assembly of the Head = Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2:The exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the Head to the torso]] 196 2011-11-24T08:47:52Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/en Tech United] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembly of AMIGO's Head]] = Assembly of the Head = Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2:The exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the Head to the torso]] 214 2011-11-24T11:48:16Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembly of AMIGO's Head]] = Mechanics = == Assembly of the Head == Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2:The exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the Head to the torso]] = Electronics = ''(Coming Soon)'' 216 2011-11-24T11:53:36Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembly of AMIGO's Head]] = Mechanics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2:The exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the Head to the torso]] = Electronics = ''(Coming Soon)'' 217 2011-11-24T12:03:10Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembly of AMIGO's Head]] = Mechanics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2:The exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the Head to the torso]] = Electronics = ''(Coming Soon)'' 229 2011-11-24T12:23:54Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembly of AMIGO's Head]] = Mechanics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2:The exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the Head to the torso]] = Electronics = ''(Coming Soon)'' 254 2011-11-24T15:32:02Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Inventor |- | style="background:white; color:black;" align="left" | STEP |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembly of AMIGO's Head]] = Mechanics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2:The exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the Head to the torso]] = Electronics = ''(Coming Soon)'' 267 2011-11-25T11:49:03Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembly of AMIGO's Head]] = Mechanics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2:The exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the Head to the torso]] = Electronics = ''(Coming Soon)'' 288 2011-11-28T12:52:54Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembly of AMIGO's Head]] = Mechanics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2:The exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the Head to the torso]] = Electronics = ''(Coming Soon)'' 307 2011-11-29T09:34:46Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembly of AMIGO's Head]] = Mechanics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2:The exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the Head to the torso]] = Electronics = ''(Coming Soon)'' 316 2011-11-29T09:54:31Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembly of AMIGO's Head]] = Mechanics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2: Exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the Head to the torso]] = Electronics = ''(Coming Soon)'' 351 2011-11-30T18:53:43Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembly of AMIGO's Head]] = Mechanics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2: Exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the Head to the torso]] = Electronics = ''(Coming Soon)'' 360 2011-11-30T20:14:18Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 {| cellpadding="2" style="border: 1px solid darkgrey; margin-left: 4em;" |- |- border="0" | Copyright Technische Universiteit Eindhoven 2011. <br> This documentation describes Open Hardware and is licensed under the <br> CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the <br> CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed <br> WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF <br> MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A <br> PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable <br> conditions <br> |} * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembly of AMIGO's Head]] = Mechanics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2: Exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the Head to the torso]] = Electronics = ''(Coming Soon)'' 366 2011-11-30T20:19:41Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 {| cellpadding="2" style="border: 1px solid darkgrey; margin-left: 4em;" |- |- border="0" | This documentation describes Open Hardware and is licensed under the <br> CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the <br> CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed <br> WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF <br> MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A <br> PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable <br> conditions <br> |} * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembly of AMIGO's Head]] = Mechanics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2: Exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the Head to the torso]] = Electronics = ''(Coming Soon)'' 377 2011-12-01T09:20:28Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ {| cellpadding="2" style="border: 1px solid darkgrey; margin-left: 4em;" |- |- border="0" | Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the <br> CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the <br> CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed <br> WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF <br> MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A <br> PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable <br> conditions <br> |} = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembly of AMIGO's Head]] = Mechanics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2: Exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the Head to the torso]] = Electronics = ''(Coming Soon)'' 387 2011-12-02T10:10:19Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembly of AMIGO's Head]] = Mechanics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2: Exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the Head to the torso]] = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 389 2011-12-02T10:13:59Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembly of AMIGO's Head]] = Mechanics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2: Exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the Head to the torso]] = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 405 2011-12-02T14:39:25Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembly of AMIGO's Head]] = Mechanics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2: Exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the Head to the torso]] = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 471 2011-12-19T12:12:27Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembly of AMIGO's Head]] = Specifications = ''(Coming Soon)'' = Mechanics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2: Exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the Head to the torso]] = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 478 2011-12-21T10:41:48Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembly of AMIGO's Head]] = Specifications = === Construction === * Dimensions (HxDxW): 16 x 6 x 16 cm * Weight: +/- 65 kg === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees === Motor Specifications === Motors: Head - 2x Dynamixel RX-28 = Mechanics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2: Exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the Head to the torso]] = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 481 2011-12-21T10:51:12Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembly of AMIGO's Head]] = Specifications = === Construction === * Dimensions (HxDxW): 16 x 6 x 16 cm * Weight: +/- 65 kg === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees === Motor Specifications === Motors: Head - 2x Dynamixel RX-28 = Mechanics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2: Exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the Head to the torso]] = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 482 2011-12-21T10:51:28Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembly of AMIGO's Head]] = Specifications = === Construction === * Dimensions (HxDxW): 16 x 6 x 16 cm === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees === Motor Specifications === Motors: Head - 2x Dynamixel RX-28 = Mechanics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2: Exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the Head to the torso]] = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 487 2011-12-21T11:50:57Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembly of AMIGO's Head]] = Specifications = === Construction === * Dimensions (HxDxW): 16 x 6 x 16 cm === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ === Connection === * USB === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees === Motor Specifications === Motors: Head - 2x Dynamixel RX-28 = Mechanics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2: Exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the Head to the torso]] = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 489 2011-12-21T11:53:13Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembly of AMIGO's Head]] = Specifications = === Construction === * Dimensions (HxDxW): 16 x 6 x 16 cm === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ === Connection === * USB === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees === Motor Specifications === Neck - 2x Dynamixel RX-28 = Mechanics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2: Exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the Head to the torso]] = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 497 2011-12-21T12:29:50Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembly of AMIGO's Head]] = Specifications = === Construction === * Dimensions (HxDxW): 16 x 6 x 16 cm * Weight: +/- 1 kg === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ === Connection === * USB === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees === Motor Specifications === Neck - 2x Dynamixel RX-28 = Mechanics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2: Exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the Head to the torso]] = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 515 2012-01-11T12:38:04Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembly of AMIGO's Head]] = Specifications = === Construction === * Dimensions (HxDxW): 16 x 6 x 16 cm * Weight: +/- 1 kg === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ === Communication === * USB * RS48 via EtherCAT stack === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees === Motor Specifications === Neck - 2x Dynamixel RX-28 = Mechanics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2: Exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the Head to the torso]] = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 574 2012-08-28T12:18:23Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembly of AMIGO's Head]] = Specifications = === Construction === * Dimensions (HxDxW): 16 x 6 x 16 cm * Weight: +/- 1 kg === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ === Communication === * USB * RS48 via EtherCAT stack === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees === Motor Specifications === Neck - 2x Dynamixel RX-28 = Mechatronics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2: Exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the Head to the torso]] = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 654 2012-09-19T07:33:42Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ DPF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembly of AMIGO's Head]] = Specifications = === Construction === * Dimensions (HxDxW): 16 x 6 x 16 cm * Weight: +/- 1 kg === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ === Communication === * USB * RS48 via EtherCAT stack === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees === Motor Specifications === Neck - 2x Dynamixel RX-28 = Mechatronics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2: Exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the Head to the torso]] = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 669 2012-09-25T12:20:52Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembly of AMIGO's Head]] = Specifications = === Construction === * Dimensions (HxDxW): 16 x 6 x 16 cm * Weight: +/- 1 kg === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ === Communication === * USB * RS48 via EtherCAT stack === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees === Motor Specifications === Neck - 2x Dynamixel RX-28 = Mechatronics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2: Exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the Head to the torso]] = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 711 2012-12-17T09:25:48Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Head https://rop.wtb.tue.nl/svn/rop/AMIGO/Head] * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembly of AMIGO's Head]] = Specifications = === Construction === * Dimensions (HxDxW): 16 x 6 x 16 cm * Weight: +/- 1 kg === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ === Communication === * USB * RS48 via EtherCAT stack === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees === Motor Specifications === Neck - 2x Dynamixel RX-28 = Mechatronics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2: Exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the Head to the torso]] = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 718 2013-02-18T12:49:45Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Head https://robotics.wtb.tue.nl/svn/rop/AMIGO/Head] * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembly of AMIGO's Head]] = Specifications = === Construction === * Dimensions (HxDxW): 16 x 6 x 16 cm * Weight: +/- 1 kg === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ === Communication === * USB * RS48 via EtherCAT stack === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees === Motor Specifications === Neck - 2x Dynamixel RX-28 = Mechatronics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2: Exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the Head to the torso]] = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 799 2014-02-03T15:43:22Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Head/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Head https://robotics.wtb.tue.nl/svn/rop/AMIGO/Head] * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembly of AMIGO's Head]] = Specifications = === Construction === * Dimensions (HxDxW): 16 x 6 x 16 cm * Weight: +/- 1 kg === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ === Communication === * USB * RS48 via EtherCAT stack === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees === Motor Specifications === Neck - 2x Dynamixel RX-28 = Mechatronics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2: Exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the Head to the torso]] = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1095 2022-08-11T12:35:20Z Fruitcake 1 Update new ROP repository location {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/Head/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/Head/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Microsoft's Kinect is used as a head to get a visualization of the world. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/Head https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/Head] * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] = Overview = In order to recognize objects and to create a three dimensional visualization of the environment, AMIGO is equipped with a Microsoft's Kinect (1) camera. In the same way humans do, the images out of multiple cameras are used for depth perception. Two Dynamixel RX-28 actuators to make it able for AMIGO to look around. A Picture of the CAD model is shown in figure 1. [[Image:AMIGO Head ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembly of AMIGO's Head]] = Specifications = === Construction === * Dimensions (HxDxW): 16 x 6 x 16 cm * Weight: +/- 1 kg === Vision === Microsoft Kinect * Horizontal field of view: 58 degrees * Vertical field of view: 45 degrees * Image sensor: Resolution VGA (640 x 480) * Frame Rate 30 fps * Depth sensor: Resolution VGA (640 x 480) * Frame Rate: 30 fps * Range: 0.8 - 3.5 m * Spatial x/y resolution: 3 mm (@ 2m distance) * Depth z resolution: 1 cm (@ 2m distance) === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ === Communication === * USB * RS48 via EtherCAT stack === Degrees of Freedom === Pan Tilt Head * Pan: 300 degrees * Tilt: 120 degrees === Motor Specifications === Neck - 2x Dynamixel RX-28 = Mechatronics = === Assembly of the Head === Figure 2 shows AMIGO's head. [[Image:AMIGO Head Exploded View.jpg|500px|thumb|center|Figure 2: Exploded view of AMIGO's head]] Microsoft's Kinect camera (1) is bolted via a support plate to a Dynamixel RX-28 (3) using a standard FR07-H101 frame (2). These parts are bolted using the supplied bolts that come with the frame. This Dynamixel (3) makes it possible for the robot to look up and down. In order to look to the sides a second Dynamixel Rx-28 (5) is used. Both Dynamixels are connected using a FR07-S101 frame (4). Figure 3 shows the positioning of the head on the torso. The Dynamixel (5) is bolted to the upper body's top panel. [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the Head to the torso]] = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 14 44 2011-11-09T08:45:21Z P.M.G. Metsemakers 2 Created page with "{| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan;..." {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Upper Body|Upper Body]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Lifting mechanism info. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = = Lifting Mechanism = [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/thumb/Lifting_mechanism.jpg/777px-Lifting_mechanism.jpg|700px|thumb|center|Figure 1: Exploded view of lifting mechanism.]] Amigo’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 1. One end of the spindle (6) is supported by an axial support (8) and the other end by a deep groove roller bearing (1). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (4) is adjusted by bolting an extra connector (2) to it. 4 M4 bolts (5) are used for this. The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor_spindle support (12) with 4 M4 (11) bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts (9). The power from the motor is transferred to the spindle via a tooth belt drive train. 6 M4 bolts (13) are used to connect the whole assembly to the rest of Amigo. This connection is explained in more detail in the next chapter. The mechanism has a stroke of 435 mm. = Connection of the lifting mechanism to the rest of the frame = [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Lifting_mechanism_connection_nr.jpg|500px|thumb|center|Figure 2: The connection of the lifting mechanism to the rest of the frame.]] Figure 2 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 3 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Crosssection_lift_mechanism_connection_nr.jpg|500px|thumb|center|Figure 3: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] 54 2011-11-09T10:10:07Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Upper Body|Upper Body]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Lifting mechanism info. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = = Overview = = Assembly upper body = Figure 1 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A u profile (2) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The u profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 2). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 (6) bolts. These are the mounting points that are already available at the arms. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Upperbody_nr.jpg|500px|thumb|center|Figure 1: The upper body of the platform.]] [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Upperbody1.jpg|500px|thumb|center|Figure 2: The upper body of the platform, with the arms attached.]] = Support of the upper body = The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 3) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 1) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 1) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 3: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. = Lifting Mechanism = [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/thumb/Lifting_mechanism.jpg/777px-Lifting_mechanism.jpg|700px|thumb|center|Figure 4: Exploded view of lifting mechanism.]] Amigo’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 4. One end of the spindle (6) is supported by an axial support (8) and the other end by a deep groove roller bearing (1). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (4) is adjusted by bolting an extra connector (2) to it. 4 M4 bolts (5) are used for this. The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor_spindle support (12) with 4 M4 (11) bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts (9). The power from the motor is transferred to the spindle via a tooth belt drive train. 6 M4 bolts (13) are used to connect the whole assembly to the rest of Amigo. This connection is explained in more detail in the next chapter. The mechanism has a stroke of 435 mm. = Connection of the lifting mechanism to the rest of the frame = [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Lifting_mechanism_connection_nr.jpg|500px|thumb|center|Figure 5: The connection of the lifting mechanism to the rest of the frame.]] Figure 5 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 3 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Crosssection_lift_mechanism_connection_nr.jpg|500px|thumb|center|Figure 6: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] 55 2011-11-09T10:10:24Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Upper Body|Upper Body]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Lifting mechanism info. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = = Assembly upper body = Figure 1 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A u profile (2) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The u profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 2). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 (6) bolts. These are the mounting points that are already available at the arms. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Upperbody_nr.jpg|500px|thumb|center|Figure 1: The upper body of the platform.]] [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Upperbody1.jpg|500px|thumb|center|Figure 2: The upper body of the platform, with the arms attached.]] = Support of the upper body = The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 3) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 1) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 1) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 3: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. = Lifting Mechanism = [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/thumb/Lifting_mechanism.jpg/777px-Lifting_mechanism.jpg|700px|thumb|center|Figure 4: Exploded view of lifting mechanism.]] Amigo’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 4. One end of the spindle (6) is supported by an axial support (8) and the other end by a deep groove roller bearing (1). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (4) is adjusted by bolting an extra connector (2) to it. 4 M4 bolts (5) are used for this. The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor_spindle support (12) with 4 M4 (11) bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts (9). The power from the motor is transferred to the spindle via a tooth belt drive train. 6 M4 bolts (13) are used to connect the whole assembly to the rest of Amigo. This connection is explained in more detail in the next chapter. The mechanism has a stroke of 435 mm. = Connection of the lifting mechanism to the rest of the frame = [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Lifting_mechanism_connection_nr.jpg|500px|thumb|center|Figure 5: The connection of the lifting mechanism to the rest of the frame.]] Figure 5 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 3 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Crosssection_lift_mechanism_connection_nr.jpg|500px|thumb|center|Figure 6: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] 61 2011-11-09T10:59:37Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Lifting mechanism info. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = = Assembly upper body = Figure 1 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A u profile (2) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The u profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 2). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 (6) bolts. These are the mounting points that are already available at the arms. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Upperbody_nr.jpg|500px|thumb|center|Figure 1: The upper body of the platform.]] [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Upperbody1.jpg|500px|thumb|center|Figure 2: The upper body of the platform, with the arms attached.]] = Support of the upper body = The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 3) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 1) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 1) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 3: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. = Lifting Mechanism = [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/thumb/Lifting_mechanism.jpg/777px-Lifting_mechanism.jpg|700px|thumb|center|Figure 4: Exploded view of lifting mechanism.]] Amigo’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 4. One end of the spindle (6) is supported by an axial support (8) and the other end by a deep groove roller bearing (1). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (4) is adjusted by bolting an extra connector (2) to it. 4 M4 bolts (5) are used for this. The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor_spindle support (12) with 4 M4 (11) bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts (9). The power from the motor is transferred to the spindle via a tooth belt drive train. 6 M4 bolts (13) are used to connect the whole assembly to the rest of Amigo. This connection is explained in more detail in the next chapter. The mechanism has a stroke of 435 mm. = Connection of the lifting mechanism to the rest of the frame = [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Lifting_mechanism_connection_nr.jpg|500px|thumb|center|Figure 5: The connection of the lifting mechanism to the rest of the frame.]] Figure 5 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 3 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Crosssection_lift_mechanism_connection_nr.jpg|500px|thumb|center|Figure 6: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] 85 2011-11-21T12:04:20Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. = Assembly upper body = Figure 1 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A u profile (2) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The u profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 2). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 (6) bolts. These are the mounting points that are already available at the arms. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Upperbody_nr.jpg|500px|thumb|center|Figure 1: The upper body of the platform.]] [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Upperbody1.jpg|500px|thumb|center|Figure 2: The upper body of the platform, with the arms attached.]] = Support of the upper body = The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 3) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 1) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 1) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 3: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. = Lifting Mechanism = [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/thumb/Lifting_mechanism.jpg/777px-Lifting_mechanism.jpg|700px|thumb|center|Figure 4: Exploded view of lifting mechanism.]] Amigo’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 4. One end of the spindle (6) is supported by an axial support (8) and the other end by a deep groove roller bearing (1). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (4) is adjusted by bolting an extra connector (2) to it. 4 M4 bolts (5) are used for this. The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor_spindle support (12) with 4 M4 (11) bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts (9). The power from the motor is transferred to the spindle via a tooth belt drive train. 6 M4 bolts (13) are used to connect the whole assembly to the rest of Amigo. This connection is explained in more detail in the next chapter. The mechanism has a stroke of 435 mm. = Connection of the lifting mechanism to the rest of the frame = [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Lifting_mechanism_connection_nr.jpg|500px|thumb|center|Figure 5: The connection of the lifting mechanism to the rest of the frame.]] Figure 5 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 3 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Crosssection_lift_mechanism_connection_nr.jpg|500px|thumb|center|Figure 6: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] 116 2011-11-21T14:29:48Z P.M.G. Metsemakers 2 /* Lifting Mechanism */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. = Assembly upper body = Figure 1 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A u profile (2) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The u profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 2). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 (6) bolts. These are the mounting points that are already available at the arms. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Upperbody_nr.jpg|500px|thumb|center|Figure 1: The upper body of the platform.]] [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Upperbody1.jpg|500px|thumb|center|Figure 2: The upper body of the platform, with the arms attached.]] = Support of the upper body = The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 3) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 1) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 1) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 3: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. = Lifting Mechanism = [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 4: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 4. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. = Connection of the lifting mechanism to the rest of the frame = [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Lifting_mechanism_connection_nr.jpg|500px|thumb|center|Figure 5: The connection of the lifting mechanism to the rest of the frame.]] Figure 5 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 3 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Crosssection_lift_mechanism_connection_nr.jpg|500px|thumb|center|Figure 6: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] 117 2011-11-21T14:33:39Z P.M.G. Metsemakers 2 /* Connection of the lifting mechanism to the rest of the frame */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. = Assembly upper body = Figure 1 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A u profile (2) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The u profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 2). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 (6) bolts. These are the mounting points that are already available at the arms. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Upperbody_nr.jpg|500px|thumb|center|Figure 1: The upper body of the platform.]] [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Upperbody1.jpg|500px|thumb|center|Figure 2: The upper body of the platform, with the arms attached.]] = Support of the upper body = The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 3) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 1) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 1) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 3: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. = Lifting Mechanism = [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 4: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 4. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. = Connection of the lifting mechanism to the rest of the frame = [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 5: The connection of the lifting mechanism to the rest of the frame.]] Figure 5 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 3 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 6: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] 120 2011-11-21T14:34:45Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. = Assembly upper body = Figure 1 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A u profile (2) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The u profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 2). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 (6) bolts. These are the mounting points that are already available at the arms. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Upperbody_nr.jpg|500px|thumb|center|Figure 1: The upper body of the platform.]] [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Upperbody1.jpg|500px|thumb|center|Figure 2: The upper body of the platform, with the arms attached.]] = Support of the upper body = The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 3) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 1) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 1) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 3: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. = Lifting Mechanism = [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 4: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 4. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. = Connection of the lifting mechanism to the rest of the frame = [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 5: The connection of the lifting mechanism to the rest of the frame.]] Figure 5 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 3 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 6: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] 121 2011-11-22T14:16:31Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. = Assembly upper body = Figure 1 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A u profile (2) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The u profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 2). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 (6) bolts. These are the mounting points that are already available at the arms. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Upperbody_nr.jpg|500px|thumb|center|Figure 1: The upper body of the platform.]] [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Upperbody1.jpg|500px|thumb|center|Figure 2: The upper body of the platform, with the arms attached.]] = Support of the upper body = The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 3) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 1) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 1) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 3: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. = Lifting Mechanism = [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 4: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 4. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. = Connection of the lifting mechanism to the rest of the frame = [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 5: The connection of the lifting mechanism to the rest of the frame.]] Figure 5 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 3 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 6: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] 127 2011-11-22T14:48:09Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Assembly upper body = Figure 2 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A u profile (2) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The u profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 3). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 (6) bolts. These are the mounting points that are already available at the arms. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Upperbody_nr.jpg|500px|thumb|center|Figure 2: The upper body of the platform.]] [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Upperbody1.jpg|500px|thumb|center|Figure 3: The upper body of the platform, with the arms attached.]] = Support of the upper body = The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 4) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 1) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 4: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. = Lifting Mechanism = [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 5: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 5. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. = Connection of the lifting mechanism to the rest of the frame = [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 6: The connection of the lifting mechanism to the rest of the frame.]] Figure 6 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] 129 2011-11-22T14:58:37Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:white; color:black;" align="left" | .dxf |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Assembly upper body = Figure 2 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A u profile (2) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The u profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 3). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 (6) bolts. These are the mounting points that are already available at the arms. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Upperbody_nr.jpg|500px|thumb|center|Figure 2: The upper body of the platform.]] [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:The upper body of the platform, with the arms attached]] = Support of the upper body = The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 4) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 1) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 4: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. = Lifting Mechanism = [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 5: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 5. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. = Connection of the lifting mechanism to the rest of the frame = [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 6: The connection of the lifting mechanism to the rest of the frame.]] Figure 6 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] 147 2011-11-23T12:02:29Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Assembly upper body = Figure 2 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A u profile (2) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The u profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 3). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 (6) bolts. These are the mounting points that are already available at the arms. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/images/Upperbody_nr.jpg|500px|thumb|center|Figure 2: The upper body of the platform.]] [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:The upper body of the platform, with the arms attached]] = Support of the upper body = The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 4) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 1) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 4: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. = Lifting Mechanism = [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 5: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 5. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. = Connection of the lifting mechanism to the rest of the frame = [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 6: The connection of the lifting mechanism to the rest of the frame.]] Figure 6 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] 160 2011-11-23T13:24:40Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | TU/e |- | style="background:white; color:black;" align="left" | Tech United |- | style="background:white; color:black;" align="left" | email |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Assembly upper body = Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A u profile (2) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The u profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 (6) bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|400px|thumb|center|Figure 2:AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|400px|thumb|center|Figure 3:AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:The upper body of the platform, with the arms attached]] = Support of the upper body = The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 4) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. = Lifting Mechanism = [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. = Connection of the lifting mechanism to the rest of the frame = [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] 168 2011-11-23T13:29:25Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/en Tech United] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Assembly upper body = Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A u profile (2) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The u profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 (6) bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|400px|thumb|center|Figure 2:AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|400px|thumb|center|Figure 3:AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:The upper body of the platform, with the arms attached]] = Support of the upper body = The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 4) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. = Lifting Mechanism = [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. = Connection of the lifting mechanism to the rest of the frame = [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] 184 2011-11-23T14:01:47Z P.M.G. Metsemakers 2 /* Assembly upper body */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/en Tech United] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Assembly upper body = Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|500px|thumb|center|Figure 2:AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|500px|thumb|center|Figure 3:AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:The upper body of the platform, with the arms attached]] = Support of the upper body = The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 4) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. = Lifting Mechanism = [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. = Connection of the lifting mechanism to the rest of the frame = [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] 186 2011-11-23T14:05:37Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/en Tech United] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Assembly upper body = Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2:AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3:AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:The upper body of the platform, with the arms attached]] = Support of the upper body = The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 4) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. = Lifting Mechanism = [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. = Connection of the lifting mechanism to the rest of the frame = [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] 188 2011-11-23T14:19:33Z P.M.G. Metsemakers 2 /* Assembly upper body */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/en Tech United] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Assembly upper body = Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. The upper body is also connected to the base using a cable chain to make sure no harm is done to the electric cabling (8). {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2:AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3:AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:The upper body of the platform, with the arms attached]] = Support of the upper body = The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 4) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. = Lifting Mechanism = [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. = Connection of the lifting mechanism to the rest of the frame = [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] 189 2011-11-23T14:25:11Z P.M.G. Metsemakers 2 /* Assembly upper body */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/en Tech United] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: Tech United * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Assembly upper body = Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. The upper body is also connected to the base using a cable chain (8) to make sure no harm is done to the electric cabling. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2:AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3:AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:The upper body of the platform, with the arms attached]] = Support of the upper body = The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 4) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. = Lifting Mechanism = [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. = Connection of the lifting mechanism to the rest of the frame = [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] 191 2011-11-23T21:53:19Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/en Tech United] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Assembly upper body = Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. The upper body is also connected to the base using a cable chain (8) to make sure no harm is done to the electric cabling. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2:AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3:AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:The upper body of the platform, with the arms attached]] = Support of the upper body = The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 4) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. = Lifting Mechanism = [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. = Connection of the lifting mechanism to the rest of the frame = [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] 198 2011-11-24T08:48:10Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/en Tech United] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Assembly upper body = Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. The upper body is also connected to the base using a cable chain (8) to make sure no harm is done to the electric cabling. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2:AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3:AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:The upper body of the platform, with the arms attached]] = Support of the upper body = The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 4) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. = Lifting Mechanism = [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. = Connection of the lifting mechanism to the rest of the frame = [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] 204 2011-11-24T08:56:35Z P.M.G. Metsemakers 2 /* Assembly upper body */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/en Tech United] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Assembly upper body = Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. The upper body is also connected to the base using a cable chain (8) to make sure no harm is done to the electric cabling. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2:AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3:AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:The upper body of the platform, with the arms attached]] = Support of the upper body = The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 4) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. = Lifting Mechanism = [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. = Connection of the lifting mechanism to the rest of the frame = [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] 220 2011-11-24T12:13:53Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/en Tech United] |- | style="background:white; color:black;" align="left" | techunited@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://www.techunited.nl/en Tech United] * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Assembly upper body = Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. The upper body is also connected to the base using a cable chain (8) to make sure no harm is done to the electric cabling. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2:AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3:AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:The upper body of the platform, with the arms attached]] = Support of the upper body = The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 4) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. = Lifting Mechanism = [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. = Connection of the lifting mechanism to the rest of the frame = [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] 222 2011-11-24T12:19:38Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly upper body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. The upper body is also connected to the base using a cable chain (8) to make sure no harm is done to the electric cabling. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2:AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3:AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:The upper body of the platform, with the arms attached]] === Support of the upper body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 4) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the lifting mechanism to the rest of the frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' 223 2011-11-24T12:20:35Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly upper body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. The upper body is also connected to the base using a cable chain (8) to make sure no harm is done to the electric cabling. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2:AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3:AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:The upper body of the platform, with the arms attached]] === Support of the upper body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 4) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the lifting mechanism to the rest of the frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' 224 2011-11-24T12:21:36Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. The upper body is also connected to the base using a cable chain (8) to make sure no harm is done to the electric cabling. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2:AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3:AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:The upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 4) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' 227 2011-11-24T12:23:28Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | .prt |- | style="background:white; color:black;" align="left" | .stp |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. The upper body is also connected to the base using a cable chain (8) to make sure no harm is done to the electric cabling. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2:AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3:AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:The upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 4) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' 246 2011-11-24T15:29:36Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | Inventor Files |- | style="background:white; color:black;" align="left" | STEP Files |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. The upper body is also connected to the base using a cable chain (8) to make sure no harm is done to the electric cabling. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2:AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3:AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:The upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 4) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' 249 2011-11-24T15:30:12Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Inventor Files |- | style="background:white; color:black;" align="left" | STEP Files |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. The upper body is also connected to the base using a cable chain (8) to make sure no harm is done to the electric cabling. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2:AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3:AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:The upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 4) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' 252 2011-11-24T15:31:12Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Inventor |- | style="background:white; color:black;" align="left" | STEP |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Repository: [[Link]] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. The upper body is also connected to the base using a cable chain (8) to make sure no harm is done to the electric cabling. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2:AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3:AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:The upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 4) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' 269 2011-11-25T11:51:08Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] ''(Coming Soon)'' * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. The upper body is also connected to the base using a cable chain (8) to make sure no harm is done to the electric cabling. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2:AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3:AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:The upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 4) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' 271 2011-11-25T11:52:33Z P.M.G. Metsemakers 2 /* Part Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. The upper body is also connected to the base using a cable chain (8) to make sure no harm is done to the electric cabling. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2:AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3:AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:The upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 4) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:http://servicerobot.cstwiki.wtb.tue.nl/index.php?title=Special:Upload&wpDestFile=Alu_tube_guidance.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' 280 2011-11-25T14:46:37Z P.M.G. Metsemakers 2 /* Support of the Upper Body */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. The upper body is also connected to the base using a cable chain (8) to make sure no harm is done to the electric cabling. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2:AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3:AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:The upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone. The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 4) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connectors (5) have rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable guidance (2) guides the cable during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' 282 2011-11-25T15:01:15Z P.M.G. Metsemakers 2 /* Support of the Upper Body */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. The upper body is also connected to the base using a cable chain (8) to make sure no harm is done to the electric cabling. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2:AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3:AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:The upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (8) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' 283 2011-11-25T15:01:32Z P.M.G. Metsemakers 2 /* Assembly Upper Body */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2:AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3:AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:The upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (8) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' 290 2011-11-28T12:53:06Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2:AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3:AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:The upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (8) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' 309 2011-11-29T09:36:07Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2:AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3:AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:The upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (8) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' 318 2011-11-29T09:56:08Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (8) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' 320 2011-11-29T09:58:54Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (8) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' 353 2011-11-30T18:54:13Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (8) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' 356 2011-11-30T18:55:03Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (8) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' 362 2011-11-30T20:14:37Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 {| cellpadding="2" style="border: 1px solid darkgrey; margin-left: 4em;" |- |- border="0" | Copyright Technische Universiteit Eindhoven 2011. <br> This documentation describes Open Hardware and is licensed under the <br> CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the <br> CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed <br> WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF <br> MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A <br> PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable <br> conditions <br> |} * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (8) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' 367 2011-11-30T20:19:54Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 {| cellpadding="2" style="border: 1px solid darkgrey; margin-left: 4em;" |- |- border="0" | This documentation describes Open Hardware and is licensed under the <br> CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the <br> CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed <br> WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF <br> MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A <br> PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable <br> conditions <br> |} * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (8) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' 371 2011-12-01T08:46:39Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 {| cellpadding="2" style="border: 1px solid darkgrey; margin-left: 4em;" |- |- border="0" | Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the <br> CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the <br> CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed <br> WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF <br> MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A <br> PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable <br> conditions <br> |} * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (8) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' 375 2011-12-01T09:20:23Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ {| cellpadding="2" style="border: 1px solid darkgrey; margin-left: 4em;" |- |- border="0" | Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the <br> CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the <br> CERN OHL v.1.1. (http://ohwr.org/cernohl). This documentation is distributed <br> WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF <br> MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A <br> PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable <br> conditions <br> |} = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (8) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' 391 2011-12-02T10:16:12Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (8) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 407 2011-12-02T14:40:02Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (8) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 435 2011-12-08T12:27:36Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components (7) that are located inside the box. Two aluminum panels (6) are added on both sides of the electronics to close the box to create a stiff connection and protect the electronics. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|450px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|450px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (8) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 458 2011-12-12T15:06:10Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|440px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|440px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (6) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 473 2011-12-19T12:13:11Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Specifications = ''(Coming Soon)'' = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|440px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|440px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (6) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 480 2011-12-21T10:50:42Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Specifications = === Construction === * Dimensions (HxDxW): 100-135 x 65 x 65 cm === Audio === ''Out'' <br> * 1x JBL GTO328 === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|440px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|440px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (6) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 495 2011-12-21T12:24:04Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Specifications = === Construction === * Dimensions (HxWxD): 85-120 x 28 x 25 cm === Connection === * Analog === Audio === ''Out'' <br> * 1x JBL GTO328 === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ === Degrees of Freedom === Lifting mechanism * 1 DOF === Motor Specifications === Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|440px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|440px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (6) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 498 2011-12-21T12:30:54Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Specifications = === Construction === * Dimensions (HxWxD): 85-120 x 28 x 25 cm * Weight: +/- 15 kg === Connection === * Analog === Audio === ''Out'' <br> * 1x JBL GTO328 === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ === Degrees of Freedom === Lifting mechanism * 1 DOF === Motor Specifications === Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|440px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|440px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (6) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 512 2012-01-11T12:27:36Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Specifications = === Construction === * Dimensions (HxWxD): 85-120 x 28 x 25 cm * Weight: +/- 15 kg === Communication === * Analog === Audio === ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ === Degrees of Freedom === Lifting mechanism * 1 DOF === Motor Specifications === Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|440px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|440px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (6) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 514 2012-01-11T12:37:40Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Specifications = === Construction === * Dimensions (HxWxD): 85-120 x 28 x 25 cm * Weight: +/- 20 kg === Communication === * Analog === Audio === ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ === Degrees of Freedom === Lifting mechanism * 1 DOF === Motor Specifications === Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC = Mechanics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|440px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|440px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (6) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = Electronics = ''(Coming Soon)'' = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 576 2012-08-28T12:19:13Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Specifications = === Construction === * Dimensions (HxWxD): 85-120 x 28 x 25 cm * Weight: +/- 20 kg === Communication === * Analog === Audio === ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ === Degrees of Freedom === Lifting mechanism * 1 DOF === Motor Specifications === Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC = Mechatronics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|440px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|440px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (6) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 655 2012-09-19T07:34:08Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ DPF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Specifications = === Construction === * Dimensions (HxWxD): 85-120 x 28 x 25 cm * Weight: +/- 20 kg === Communication === * Analog === Audio === ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ === Degrees of Freedom === Lifting mechanism * 1 DOF === Motor Specifications === Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC = Mechatronics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|440px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|440px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (6) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 670 2012-09-25T12:21:06Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/ https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Specifications = === Construction === * Dimensions (HxWxD): 85-120 x 28 x 25 cm * Weight: +/- 20 kg === Communication === * Analog === Audio === ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ === Degrees of Freedom === Lifting mechanism * 1 DOF === Motor Specifications === Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC = Mechatronics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|440px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|440px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (6) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 713 2012-12-17T09:26:30Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso https://rop.wtb.tue.nl/svn/rop/AMIGO/Torso] * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Specifications = === Construction === * Dimensions (HxWxD): 85-120 x 28 x 25 cm * Weight: +/- 20 kg === Communication === * Analog === Audio === ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ === Degrees of Freedom === Lifting mechanism * 1 DOF === Motor Specifications === Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC = Mechatronics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|440px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|440px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (6) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 720 2013-02-18T12:51:24Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Torso https://robotics.wtb.tue.nl/svn/rop/AMIGO/Torso] * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Specifications = === Construction === * Dimensions (HxWxD): 85-120 x 28 x 25 cm * Weight: +/- 20 kg === Communication === * Analog === Audio === ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ === Degrees of Freedom === Lifting mechanism * 1 DOF === Motor Specifications === Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC = Mechatronics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|440px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|440px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (6) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 800 2014-02-03T15:43:59Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/AMIGO/Torso https://robotics.wtb.tue.nl/svn/rop/AMIGO/Torso] * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Specifications = === Construction === * Dimensions (HxWxD): 85-120 x 28 x 25 cm * Weight: +/- 20 kg === Communication === * Analog === Audio === ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ === Degrees of Freedom === Lifting mechanism * 1 DOF === Motor Specifications === Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC = Mechatronics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|440px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|440px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (6) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1097 2022-08-11T12:36:50Z Fruitcake 1 Update new ROP repository location {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/Torso/Inventor/ Inventor] |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/Torso/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = The torso contains a spindle and and a mounting space for the head, arms and some electronics. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/Torso https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/Torso] * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] = Overview = The shoulders are connected to the base platform via a spindle that allows the upper part of the body to move up and down. In its lowest position, AMIGO is capable to lift objects from the ground. While in its highest position the robot is about as high as a kid, making it big enough to place objects on the table or in the sink but still small enough to make a friendly appearance. [[Image:AMIGO Torso.jpg|500px|thumb|center|Figure 1: The assembled torso of AMIGO.]] = Specifications = === Construction === * Dimensions (HxWxD): 85-120 x 28 x 25 cm * Weight: +/- 20 kg === Communication === * Analog === Audio === ''Out'' <br> 1x JBL GTO328 * Power: 75 W max === Software === * Ubuntu * ROS (Robot Operating System) * Programming: C++ === Degrees of Freedom === Lifting mechanism * 1 DOF === Motor Specifications === Lifting mechanism * Maxon RE35 24 V * Maxon Planetary gearhead GP 32A 4.8:1 * Maxon Encoder: HEDS 5540 * Maxon Brake AB 28, 24 VDC = Mechatronics = === Assembly Upper Body === Figure 2 and 3 shows the upper body of Amigo. The upper body consists of a three millimeter aluminum base plate (1). It has an octagonal shape and six of its edges are folded to increase the out of plane bending stiffness of the plate. The flanges are welded together at the points were they meet. A U-profile (2) (made transparent to give a better view) is bolted to the base plate. The profile is folded from a two millimeter thick aluminum plate. The cross section of the profile is fixed by four triangular sheets (3) of 2 millimeter thick aluminum, which are bolted to both the u profile and the bottom plate. The U-profile is not welded to the bottom plate, so it can still easily be disassembled to access the electronic components that are located inside the box. <br> The connectors of the slider rails (4) and (5) differ in size. Connector (4) is bolted to the shoulder, which is placed at the end of the u profile. (See Figure 4). Connector (5) is wider than (4). It has the same width as the flaps of the u profile. Therefore, its outer edges are directly beneath the triangular sheets. This prevents unnecessary moments in the base plate. The connectors are also made of aluminum. Figure 5 shows the upper body with the arms attached. The arms close the box. This creates a stiff connection between them. Each arm is bolted to the upper body frame with 8 M5 bolts. These are the mounting points that are already available at the arms. {| style="background: transparent; margin: auto;" | [[Image:AMIGO Upper Body2.jpg|440px|thumb|center|Figure 2: AMIGO's upper body (front)]] | [[Image:AMIGO Upper Body3.jpg|440px|thumb|center|Figure 3: AMIGO's upper body (back)]] |} [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 4:Upper body of the platform, with the arms attached]] === Support of the Upper Body === The axial forces on the upper body are supported by the aluminum tube. Forces in all other directions and applied moments are supported by the slider rails. The aluminum tube is guided by a tube (1) (See Figure 5) between the two floors in the octagonal cone (2) and (3). The tube is made of aluminum. It has flanges at both ends. These are used to bolt it to the two floors and center the tube in these floors. The cone is made out of two halves. This allows both easy manufacturing and easy access to the components inside the cone. The halves are folded from a two millimeter thick aluminum plate. The inner diameter of the guidance tube is one millimeter larger than the outer diameter of the aluminum tube. This clearance prevents over determination of the upper body, because it is also guided by the four slider rails. It is important that the slider rails are mounted exactly vertical. Therefore, there must be some room for adjustments in the connection between the slider rails and the upper body. For this reason, the diameter of the bolt holes in the connectors of the slider rails ((4) in Figure 2 and 3) is two millimeter larger than the diameter of the bolt. Therefore, the position of the connector can be adjusted with respect to the upper body. The connector (5) has rivnuts to provide the threaded holes. To create the adjustment space the diameter of the holes in the bottom plate ((1) in Figure 2 and 3) is two millimeter larger than the bolt diameter. [[Image:AMIGO Guidance Tube.jpg|500 px|thumb|center|Figure 5: Guidance of the aluminum tube.]] The flexible cable chain (6) (in figures 2 and 3) guides the cables during translation of the upper body. One end of the guidance is connected to the upper body and the other end is connected to the back half of the cone. Holes are made in the two floors to allow the guidance to pass through them. === Lifting Mechanism === [[Image:AMIGO Spindle Exploded View.jpg|700px|thumb|center|Figure 6: Exploded view of lifting mechanism.]] AMIGO’s upper body is lifted by a ball screw spindle mechanism. An exploded view of this mechanism is depicted in Figure 6. One end of the spindle (5) is supported by an axial support (8) and the other end by a deep groove roller bearing (2). A teflon ring is placed around the bearing to reduce the friction between the bearing and the tube it slides through. The outer shape of the nut (3) is adjusted by screwing it in an extra connector (4). The tube is connected to this connector with 6 M4 set screws. The connector is a milled aluminum part. The tube is a standard aluminum tube from MCB with and outer diameter of 50 mm and a wall thickness of 1.5 mm. The axial support is bolted to the motor spindle support (7) with 4 M4 bolts. This support is a milled aluminum part. Also the motor assembly (7) is bolted to this support with 4 M3 counter sunk bolts. The power from the motor is transferred to the spindle via a tooth belt drive train (9) (10). <br> The mechanism has a stroke of 435 mm. === Connection of the Lifting Mechanism to the Rest of the Frame === [[Image:AMIGO Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 7: The connection of the lifting mechanism to the rest of the frame.]] Figure 7 shows the connection between the lifting mechanism and the rest of the frame. The connection is made by an aluminum tube (1) with two flanges. The tube is a standard MCB part. It has an outer diameter of 70 mm and a wall thickness of 1.5 mm. The flanges are 2 mm thick and are welded to the tube. A hole is made in the tube to access the components inside. The hole is covered by a cover plate (2) that is bolted to the tube. Figure 3 shows a cross section view of the connection. The tube (1) and cover (2) can be recognized in this Figure. Figure 4 shows that the tube is centered on the motor_spindle_support and on the tube of the central box (3). To center the connecting tube on the tube of the central box an extra body (4) is used, which is also made out of aluminum. The tube (3) is four millimeter longer than the height of the central box. The extra body (4) is centered on this extra part of the tube. The flange of the connecting tube (1) is centered on the extra body. The connecting tube and the tube of the central box do not touch each other. This ensures a good alignment of the spindle with respect to the central box. Both parts are bolted to the central box with 8 M4 bolts. [[Image:AMIGO Crosssection Lifting Mechanism Connection.jpg|500px|thumb|center|Figure 8: Cross section view of the connection of the lifting mechanism to the rest of the frame.]] = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 45 337 2011-11-29T16:33:26Z 82.171.25.52 Created page with "[http://www.roboticopenplatform.org/answers Click here to go to the Answers page]" [http://www.roboticopenplatform.org/answers Click here to go to the Answers page] 202 811 2014-03-16T13:15:23Z Tmhafkamp 53 Created page with "__TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange o..." __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adapted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the best practices for sharing open-source hardware [1]. 812 2014-03-16T14:00:45Z Tmhafkamp 53 __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. = Elements of a ROP contribution = This section describes some of the fi�les you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author * License * Hardware * Software The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very bene�ficial for the comprehensibility of the robot structure, see Figure 1 for an example. 813 2014-03-16T14:01:00Z Tmhafkamp 53 /* Elements of a ROP contribution */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author * License * Hardware * Software The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. 814 2014-03-16T14:02:28Z Tmhafkamp 53 /* Summary */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. 815 2014-03-16T14:04:17Z Tmhafkamp 53 __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. == Specifications == == Design Files == == Bill of Materials == == Software and Firmware == Instructions and Documentation == == Photos == 816 2014-03-16T14:04:33Z Tmhafkamp 53 __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. == Specifications == == Design Files == == Bill of Materials == == Software and Firmware == == Instructions and Documentation == == Photos == 817 2014-03-16T14:06:23Z Tmhafkamp 53 __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. == Specifications == == Design Files == == Bill of Materials == == Software and Firmware == == Instructions and Documentation == == Photos == = Publishing on ROP = == Registering == == Wiki Style Guide == == Hosting Design Files == = Checklist = 819 2014-03-16T14:13:59Z Tmhafkamp 53 /* Overview */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == == Design Files == == Bill of Materials == == Software and Firmware == == Instructions and Documentation == == Photos == = Publishing on ROP = == Registering == == Wiki Style Guide == == Hosting Design Files == = Checklist = 820 2014-03-16T14:17:36Z Tmhafkamp 53 /* Wiki Style Guide */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == == Design Files == == Bill of Materials == == Software and Firmware == == Instructions and Documentation == == Photos == = Publishing on ROP = == Registering == == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == = Checklist = 821 2014-03-16T14:21:49Z Tmhafkamp 53 /* Introduction */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following section gives a guideline for some of the �files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == == Design Files == == Bill of Materials == == Software and Firmware == == Instructions and Documentation == == Photos == = Publishing on ROP = == Registering == == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == = Checklist = 822 2014-03-16T14:24:03Z Tmhafkamp 53 /* Specifications */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following section gives a guideline for some of the �files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == == Bill of Materials == == Software and Firmware == == Instructions and Documentation == == Photos == = Publishing on ROP = == Registering == == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == = Checklist = 823 2014-03-16T14:25:52Z Tmhafkamp 53 /* Design Files */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following section gives a guideline for some of the �files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == == Software and Firmware == == Instructions and Documentation == == Photos == = Publishing on ROP = == Registering == == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == = Checklist = 824 2014-03-16T14:26:17Z Tmhafkamp 53 /* Preparing the contribution of your project */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following section gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == == Software and Firmware == == Instructions and Documentation == == Photos == = Publishing on ROP = == Registering == == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == = Checklist = 825 2014-03-16T14:27:50Z Tmhafkamp 53 /* Bill of Materials */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following section gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as many useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) == Software and Firmware == == Instructions and Documentation == == Photos == = Publishing on ROP = == Registering == == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == = Checklist = 827 2014-03-16T14:29:23Z Tmhafkamp 53 /* Bill of Materials */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following section gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == == Overview == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as many useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) |} == Software and Firmware == == Instructions and Documentation == == Photos == = Publishing on ROP = == Registering == == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == = Checklist = 828 2014-03-16T14:29:56Z Tmhafkamp 53 /* Overview */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following section gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == == Overview == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as many useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where, all for the sake of clarity. |} == Software and Firmware == == Instructions and Documentation == == Photos == = Publishing on ROP = == Registering == == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == = Checklist = 829 2014-03-16T14:30:19Z Tmhafkamp 53 /* Software and Firmware */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following section gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == == Overview == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as many useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where, all for the sake of clarity. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adapted and further developed by the community, so please include as much and clear as possible documentation. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == == Photos == = Publishing on ROP = == Registering == == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == = Checklist = 830 2014-03-16T14:33:15Z Tmhafkamp 53 __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following section gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where, all for the sake of clarity. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adapted and further developed by the community, so please include as much and clear as possible documentation. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = == Registering == == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == == Licensing == = Checklist = 831 2014-03-16T14:38:17Z Tmhafkamp 53 /* Hosting Design Files */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following section gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where, all for the sake of clarity. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adapted and further developed by the community, so please include as much and clear as possible documentation. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = == Registering == == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == It is highly recommended to host your design files on the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running \href{http://subversion.apache.org/}{Apache Subversion}, so you will be asked to install a client. In the case yuor design files are hosted elsewhere it is in any case highly recommended to use a version-controlled repository. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. The following directory tree is recommended: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == = Checklist = 832 2014-03-16T14:38:43Z Tmhafkamp 53 /* Hosting Design Files */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following section gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where, all for the sake of clarity. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adapted and further developed by the community, so please include as much and clear as possible documentation. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = == Registering == == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == It is highly recommended to host your design files on the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. In the case yuor design files are hosted elsewhere it is in any case highly recommended to use a version-controlled repository. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. The following directory tree is recommended: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == = Checklist = 833 2014-03-16T14:41:52Z Tmhafkamp 53 /* Licensing */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following section gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where, all for the sake of clarity. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adapted and further developed by the community, so please include as much and clear as possible documentation. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = == Registering == == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == It is highly recommended to host your design files on the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. In the case yuor design files are hosted elsewhere it is in any case highly recommended to use a version-controlled repository. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. The following directory tree is recommended: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For contribution on ROP you are free to choose a license, as long as it is an open-source one. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] = Checklist = 834 2014-03-16T14:42:08Z Tmhafkamp 53 /* Licensing */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following section gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where, all for the sake of clarity. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adapted and further developed by the community, so please include as much and clear as possible documentation. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = == Registering == == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == It is highly recommended to host your design files on the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. In the case yuor design files are hosted elsewhere it is in any case highly recommended to use a version-controlled repository. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. The following directory tree is recommended: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For contribution on ROP you are free to choose a license, as long as it is an open-source one. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] = Checklist = 835 2014-03-16T14:44:59Z Tmhafkamp 53 /* Checklist */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following section gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where, all for the sake of clarity. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adapted and further developed by the community, so please include as much and clear as possible documentation. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = == Registering == == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == It is highly recommended to host your design files on the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. In the case yuor design files are hosted elsewhere it is in any case highly recommended to use a version-controlled repository. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. The following directory tree is recommended: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For contribution on ROP you are free to choose a license, as long as it is an open-source one. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] = Checklist = * Summary <span style="font-size:21px">□</span> * Overview ** Component hierarchy * Specificatons * Bill Of Materials * Design files ** 3D CAD designs ** 2D CAD drawings ** Circuit board CAD files ** Electrical wiring ** Technical drawings ** Machining code * Software/firmware ** Code ** Documentation * Instructions/documentation ** Manufacturing instructions ** Assembly instructions ** User manuals ** Design rationale ** System architecture * Photos * Licensing * 3D Viewer 836 2014-03-16T14:48:00Z Tmhafkamp 53 /* Registering */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following section gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where, all for the sake of clarity. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adapted and further developed by the community, so please include as much and clear as possible documentation. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = == Registering == The first step before you can publish on ROP is to request an account on the [[Special:RequestAccount | login page]]. You are then asked to choose a username and specify your e-mail address indicated in Figure 3 as (1) and (2). Then after adding information on your real name (3) and a biography (4) and some optional additional information, you can send your account request (5). The request is then evaluated by the ROP webmaster and once accepted you will be notified by e-mail. Please fill in at least some details on your account, so your account request will be filtered from all the spam ROP receives. == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == It is highly recommended to host your design files on the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. In the case yuor design files are hosted elsewhere it is in any case highly recommended to use a version-controlled repository. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. The following directory tree is recommended: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For contribution on ROP you are free to choose a license, as long as it is an open-source one. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] = Checklist = * Summary <span style="font-size:21px">□</span> * Overview ** Component hierarchy * Specificatons * Bill Of Materials * Design files ** 3D CAD designs ** 2D CAD drawings ** Circuit board CAD files ** Electrical wiring ** Technical drawings ** Machining code * Software/firmware ** Code ** Documentation * Instructions/documentation ** Manufacturing instructions ** Assembly instructions ** User manuals ** Design rationale ** System architecture * Photos * Licensing * 3D Viewer 837 2014-03-16T14:49:34Z Tmhafkamp 53 /* Hosting Design Files */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following section gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where, all for the sake of clarity. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adapted and further developed by the community, so please include as much and clear as possible documentation. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = == Registering == The first step before you can publish on ROP is to request an account on the [[Special:RequestAccount | login page]]. You are then asked to choose a username and specify your e-mail address indicated in Figure 3 as (1) and (2). Then after adding information on your real name (3) and a biography (4) and some optional additional information, you can send your account request (5). The request is then evaluated by the ROP webmaster and once accepted you will be notified by e-mail. Please fill in at least some details on your account, so your account request will be filtered from all the spam ROP receives. == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == It is highly recommended to host your design files on the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. In the case yuor design files are hosted elsewhere it is in any case highly recommended to use a version-controlled repository. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. You are required to use the following directory tree: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For contribution on ROP you are free to choose a license, as long as it is an open-source one. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] = Checklist = * Summary <span style="font-size:21px">□</span> * Overview ** Component hierarchy * Specificatons * Bill Of Materials * Design files ** 3D CAD designs ** 2D CAD drawings ** Circuit board CAD files ** Electrical wiring ** Technical drawings ** Machining code * Software/firmware ** Code ** Documentation * Instructions/documentation ** Manufacturing instructions ** Assembly instructions ** User manuals ** Design rationale ** System architecture * Photos * Licensing * 3D Viewer 838 2014-03-16T14:51:33Z Tmhafkamp 53 /* Instructions and Documentation */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following section gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where, all for the sake of clarity. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adapted and further developed by the community, so please include as much and clear as possible documentation. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == In addition to the design files you should share all documentation available, as all explanations of your robot are invaluable in helping others to modify or manufacture your robot. Examples include, but are not limited to: * Manufacturing instructions * Assembly instructions * User manuals * Design rationale * System architecture == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = == Registering == The first step before you can publish on ROP is to request an account on the [[Special:RequestAccount | login page]]. You are then asked to choose a username and specify your e-mail address indicated in Figure 3 as (1) and (2). Then after adding information on your real name (3) and a biography (4) and some optional additional information, you can send your account request (5). The request is then evaluated by the ROP webmaster and once accepted you will be notified by e-mail. Please fill in at least some details on your account, so your account request will be filtered from all the spam ROP receives. == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == It is highly recommended to host your design files on the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. In the case yuor design files are hosted elsewhere it is in any case highly recommended to use a version-controlled repository. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. You are required to use the following directory tree: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For contribution on ROP you are free to choose a license, as long as it is an open-source one. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] = Checklist = * Summary <span style="font-size:21px">□</span> * Overview ** Component hierarchy * Specificatons * Bill Of Materials * Design files ** 3D CAD designs ** 2D CAD drawings ** Circuit board CAD files ** Electrical wiring ** Technical drawings ** Machining code * Software/firmware ** Code ** Documentation * Instructions/documentation ** Manufacturing instructions ** Assembly instructions ** User manuals ** Design rationale ** System architecture * Photos * Licensing * 3D Viewer 840 2014-03-16T14:53:49Z Tmhafkamp 53 __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following section gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where, all for the sake of clarity. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adapted and further developed by the community, so please include as much and clear as possible documentation. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == In addition to the design files you should share all documentation available, as all explanations of your robot are invaluable in helping others to modify or manufacture your robot. Examples include, but are not limited to: * Manufacturing instructions * Assembly instructions * User manuals * Design rationale * System architecture == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = The first step before you can publish on ROP is to request an account on the [[Special:RequestAccount | login page]]. == Requesting an account == {| style="width: 100%" | [[Image:Request.png|200px|thumb|right|Figure 3: Account request]] You are then asked to choose a username and specify your e-mail address indicated in Figure 3 as (1) and (2). Then after adding information on your real name (3) and a biography (4) and some optional additional information, you can send your account request (5). The request is then evaluated by the ROP webmaster and once accepted you will be notified by e-mail. Please fill in at least some details on your account, so your account request will be filtered from all the spam ROP receives. |} == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == It is highly recommended to host your design files on the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. In the case yuor design files are hosted elsewhere it is in any case highly recommended to use a version-controlled repository. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. You are required to use the following directory tree: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For contribution on ROP you are free to choose a license, as long as it is an open-source one. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] = Checklist = * Summary <span style="font-size:21px">□</span> * Overview ** Component hierarchy * Specificatons * Bill Of Materials * Design files ** 3D CAD designs ** 2D CAD drawings ** Circuit board CAD files ** Electrical wiring ** Technical drawings ** Machining code * Software/firmware ** Code ** Documentation * Instructions/documentation ** Manufacturing instructions ** Assembly instructions ** User manuals ** Design rationale ** System architecture * Photos * Licensing * 3D Viewer 841 2014-03-16T14:54:07Z Tmhafkamp 53 /* Publishing on ROP */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this document are mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following section gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where, all for the sake of clarity. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adapted and further developed by the community, so please include as much and clear as possible documentation. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == In addition to the design files you should share all documentation available, as all explanations of your robot are invaluable in helping others to modify or manufacture your robot. Examples include, but are not limited to: * Manufacturing instructions * Assembly instructions * User manuals * Design rationale * System architecture == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = The first step you should take before you can publish on ROP is to request an account on the [[Special:RequestAccount | login page]]. == Requesting an account == {| style="width: 100%" | [[Image:Request.png|200px|thumb|right|Figure 3: Account request]] You are then asked to choose a username and specify your e-mail address indicated in Figure 3 as (1) and (2). Then after adding information on your real name (3) and a biography (4) and some optional additional information, you can send your account request (5). The request is then evaluated by the ROP webmaster and once accepted you will be notified by e-mail. Please fill in at least some details on your account, so your account request will be filtered from all the spam ROP receives. |} == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == It is highly recommended to host your design files on the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. In the case yuor design files are hosted elsewhere it is in any case highly recommended to use a version-controlled repository. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. You are required to use the following directory tree: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For contribution on ROP you are free to choose a license, as long as it is an open-source one. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] = Checklist = * Summary <span style="font-size:21px">□</span> * Overview ** Component hierarchy * Specificatons * Bill Of Materials * Design files ** 3D CAD designs ** 2D CAD drawings ** Circuit board CAD files ** Electrical wiring ** Technical drawings ** Machining code * Software/firmware ** Code ** Documentation * Instructions/documentation ** Manufacturing instructions ** Assembly instructions ** User manuals ** Design rationale ** System architecture * Photos * Licensing * 3D Viewer 842 2014-03-16T14:57:02Z Tmhafkamp 53 /* Introduction */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this page were mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following section gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where, all for the sake of clarity. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adapted and further developed by the community, so please include as much and clear as possible documentation. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == In addition to the design files you should share all documentation available, as all explanations of your robot are invaluable in helping others to modify or manufacture your robot. Examples include, but are not limited to: * Manufacturing instructions * Assembly instructions * User manuals * Design rationale * System architecture == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = The first step you should take before you can publish on ROP is to request an account on the [[Special:RequestAccount | login page]]. == Requesting an account == {| style="width: 100%" | [[Image:Request.png|200px|thumb|right|Figure 3: Account request]] You are then asked to choose a username and specify your e-mail address indicated in Figure 3 as (1) and (2). Then after adding information on your real name (3) and a biography (4) and some optional additional information, you can send your account request (5). The request is then evaluated by the ROP webmaster and once accepted you will be notified by e-mail. Please fill in at least some details on your account, so your account request will be filtered from all the spam ROP receives. |} == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == It is highly recommended to host your design files on the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. In the case yuor design files are hosted elsewhere it is in any case highly recommended to use a version-controlled repository. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. You are required to use the following directory tree: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For contribution on ROP you are free to choose a license, as long as it is an open-source one. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] = Checklist = * Summary <span style="font-size:21px">□</span> * Overview ** Component hierarchy * Specificatons * Bill Of Materials * Design files ** 3D CAD designs ** 2D CAD drawings ** Circuit board CAD files ** Electrical wiring ** Technical drawings ** Machining code * Software/firmware ** Code ** Documentation * Instructions/documentation ** Manufacturing instructions ** Assembly instructions ** User manuals ** Design rationale ** System architecture * Photos * Licensing * 3D Viewer 843 2014-03-16T14:57:49Z Tmhafkamp 53 /* Bill of Materials */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this page were mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following section gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adapted and further developed by the community, so please include as much and clear as possible documentation. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == In addition to the design files you should share all documentation available, as all explanations of your robot are invaluable in helping others to modify or manufacture your robot. Examples include, but are not limited to: * Manufacturing instructions * Assembly instructions * User manuals * Design rationale * System architecture == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = The first step you should take before you can publish on ROP is to request an account on the [[Special:RequestAccount | login page]]. == Requesting an account == {| style="width: 100%" | [[Image:Request.png|200px|thumb|right|Figure 3: Account request]] You are then asked to choose a username and specify your e-mail address indicated in Figure 3 as (1) and (2). Then after adding information on your real name (3) and a biography (4) and some optional additional information, you can send your account request (5). The request is then evaluated by the ROP webmaster and once accepted you will be notified by e-mail. Please fill in at least some details on your account, so your account request will be filtered from all the spam ROP receives. |} == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == It is highly recommended to host your design files on the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. In the case yuor design files are hosted elsewhere it is in any case highly recommended to use a version-controlled repository. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. You are required to use the following directory tree: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For contribution on ROP you are free to choose a license, as long as it is an open-source one. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] = Checklist = * Summary <span style="font-size:21px">□</span> * Overview ** Component hierarchy * Specificatons * Bill Of Materials * Design files ** 3D CAD designs ** 2D CAD drawings ** Circuit board CAD files ** Electrical wiring ** Technical drawings ** Machining code * Software/firmware ** Code ** Documentation * Instructions/documentation ** Manufacturing instructions ** Assembly instructions ** User manuals ** Design rationale ** System architecture * Photos * Licensing * 3D Viewer 844 2014-03-16T14:58:28Z Tmhafkamp 53 /* Preparing the contribution of your project */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this page were mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adapted and further developed by the community, so please include as much and clear as possible documentation. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == In addition to the design files you should share all documentation available, as all explanations of your robot are invaluable in helping others to modify or manufacture your robot. Examples include, but are not limited to: * Manufacturing instructions * Assembly instructions * User manuals * Design rationale * System architecture == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = The first step you should take before you can publish on ROP is to request an account on the [[Special:RequestAccount | login page]]. == Requesting an account == {| style="width: 100%" | [[Image:Request.png|200px|thumb|right|Figure 3: Account request]] You are then asked to choose a username and specify your e-mail address indicated in Figure 3 as (1) and (2). Then after adding information on your real name (3) and a biography (4) and some optional additional information, you can send your account request (5). The request is then evaluated by the ROP webmaster and once accepted you will be notified by e-mail. Please fill in at least some details on your account, so your account request will be filtered from all the spam ROP receives. |} == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == It is highly recommended to host your design files on the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. In the case yuor design files are hosted elsewhere it is in any case highly recommended to use a version-controlled repository. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. You are required to use the following directory tree: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For contribution on ROP you are free to choose a license, as long as it is an open-source one. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] = Checklist = * Summary <span style="font-size:21px">□</span> * Overview ** Component hierarchy * Specificatons * Bill Of Materials * Design files ** 3D CAD designs ** 2D CAD drawings ** Circuit board CAD files ** Electrical wiring ** Technical drawings ** Machining code * Software/firmware ** Code ** Documentation * Instructions/documentation ** Manufacturing instructions ** Assembly instructions ** User manuals ** Design rationale ** System architecture * Photos * Licensing * 3D Viewer 845 2014-03-16T15:15:48Z Tmhafkamp 53 /* Checklist */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this page were mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adapted and further developed by the community, so please include as much and clear as possible documentation. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == In addition to the design files you should share all documentation available, as all explanations of your robot are invaluable in helping others to modify or manufacture your robot. Examples include, but are not limited to: * Manufacturing instructions * Assembly instructions * User manuals * Design rationale * System architecture == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = The first step you should take before you can publish on ROP is to request an account on the [[Special:RequestAccount | login page]]. == Requesting an account == {| style="width: 100%" | [[Image:Request.png|200px|thumb|right|Figure 3: Account request]] You are then asked to choose a username and specify your e-mail address indicated in Figure 3 as (1) and (2). Then after adding information on your real name (3) and a biography (4) and some optional additional information, you can send your account request (5). The request is then evaluated by the ROP webmaster and once accepted you will be notified by e-mail. Please fill in at least some details on your account, so your account request will be filtered from all the spam ROP receives. |} == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == It is highly recommended to host your design files on the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. In the case yuor design files are hosted elsewhere it is in any case highly recommended to use a version-controlled repository. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. You are required to use the following directory tree: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For contribution on ROP you are free to choose a license, as long as it is an open-source one. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] * Summary * Overview ** Component hierarchy * Specificatons * Bill Of Materials * Design files ** 3D CAD designs ** 2D CAD drawings ** Circuit board CAD files ** Electrical wiring ** Technical drawings ** Machining code * Software/firmware ** Code ** Documentation * Instructions/documentation ** Manufacturing instructions ** Assembly instructions ** User manuals ** Design rationale ** System architecture * Photos * Licensing * 3D Viewer 846 2014-03-16T15:16:12Z Tmhafkamp 53 __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this page were mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adapted and further developed by the community, so please include as much and clear as possible documentation. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == In addition to the design files you should share all documentation available, as all explanations of your robot are invaluable in helping others to modify or manufacture your robot. Examples include, but are not limited to: * Manufacturing instructions * Assembly instructions * User manuals * Design rationale * System architecture == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = The first step you should take before you can publish on ROP is to request an account on the [[Special:RequestAccount | login page]]. == Requesting an account == {| style="width: 100%" | [[Image:Request.png|200px|thumb|right|Figure 3: Account request]] You are then asked to choose a username and specify your e-mail address indicated in Figure 3 as (1) and (2). Then after adding information on your real name (3) and a biography (4) and some optional additional information, you can send your account request (5). The request is then evaluated by the ROP webmaster and once accepted you will be notified by e-mail. Please fill in at least some details on your account, so your account request will be filtered from all the spam ROP receives. |} == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == It is highly recommended to host your design files on the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. In the case yuor design files are hosted elsewhere it is in any case highly recommended to use a version-controlled repository. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. You are required to use the following directory tree: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For contribution on ROP you are free to choose a license, as long as it is an open-source one. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] = Checklist = * Summary * Overview ** Component hierarchy * Specificatons * Bill Of Materials * Design files ** 3D CAD designs ** 2D CAD drawings ** Circuit board CAD files ** Electrical wiring ** Technical drawings ** Machining code * Software/firmware ** Code ** Documentation * Instructions/documentation ** Manufacturing instructions ** Assembly instructions ** User manuals ** Design rationale ** System architecture * Photos * Licensing * 3D Viewer 847 2014-03-16T15:26:34Z Tmhafkamp 53 /* Checklist */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this page were mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adapted and further developed by the community, so please include as much and clear as possible documentation. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == In addition to the design files you should share all documentation available, as all explanations of your robot are invaluable in helping others to modify or manufacture your robot. Examples include, but are not limited to: * Manufacturing instructions * Assembly instructions * User manuals * Design rationale * System architecture == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = The first step you should take before you can publish on ROP is to request an account on the [[Special:RequestAccount | login page]]. == Requesting an account == {| style="width: 100%" | [[Image:Request.png|200px|thumb|right|Figure 3: Account request]] You are then asked to choose a username and specify your e-mail address indicated in Figure 3 as (1) and (2). Then after adding information on your real name (3) and a biography (4) and some optional additional information, you can send your account request (5). The request is then evaluated by the ROP webmaster and once accepted you will be notified by e-mail. Please fill in at least some details on your account, so your account request will be filtered from all the spam ROP receives. |} == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == It is highly recommended to host your design files on the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. In the case yuor design files are hosted elsewhere it is in any case highly recommended to use a version-controlled repository. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. You are required to use the following directory tree: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For contribution on ROP you are free to choose a license, as long as it is an open-source one. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] = Checklist = To summarize, there are numerous possible elements of a ROP contribution; consider the following checklist to ensure you have included all information at hand in your contribution. * Summary * Overview ** Component hierarchy * Specificatons * Bill Of Materials * Design files ** 3D CAD designs ** 2D CAD drawings ** Circuit board CAD files ** Electrical wiring ** Technical drawings ** Machining code * Software/firmware ** Code ** Documentation * Instructions/documentation ** Manufacturing instructions ** Assembly instructions ** User manuals ** Design rationale ** System architecture * Photos * Licensing * 3D Viewer 848 2014-03-16T15:30:25Z Tmhafkamp 53 /* Hosting Design Files */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP. ROP was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this page were mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adapted and further developed by the community, so please include as much and clear as possible documentation. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == In addition to the design files you should share all documentation available, as all explanations of your robot are invaluable in helping others to modify or manufacture your robot. Examples include, but are not limited to: * Manufacturing instructions * Assembly instructions * User manuals * Design rationale * System architecture == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = The first step you should take before you can publish on ROP is to request an account on the [[Special:RequestAccount | login page]]. == Requesting an account == {| style="width: 100%" | [[Image:Request.png|200px|thumb|right|Figure 3: Account request]] You are then asked to choose a username and specify your e-mail address indicated in Figure 3 as (1) and (2). Then after adding information on your real name (3) and a biography (4) and some optional additional information, you can send your account request (5). The request is then evaluated by the ROP webmaster and once accepted you will be notified by e-mail. Please fill in at least some details on your account, so your account request will be filtered from all the spam ROP receives. |} == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == For a contribution to ROP, you are required to host your design files at the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. You are required to use the following directory tree: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For contribution on ROP you are free to choose a license, as long as it is an open-source one. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] = Checklist = To summarize, there are numerous possible elements of a ROP contribution; consider the following checklist to ensure you have included all information at hand in your contribution. * Summary * Overview ** Component hierarchy * Specificatons * Bill Of Materials * Design files ** 3D CAD designs ** 2D CAD drawings ** Circuit board CAD files ** Electrical wiring ** Technical drawings ** Machining code * Software/firmware ** Code ** Documentation * Instructions/documentation ** Manufacturing instructions ** Assembly instructions ** User manuals ** Design rationale ** System architecture * Photos * Licensing * 3D Viewer 849 2014-03-16T15:31:26Z Tmhafkamp 53 /* Introduction */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP, which was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this page were mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. If any questions arise, do not hestitate to [contact the ROP webmaster]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adapted and further developed by the community, so please include as much and clear as possible documentation. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == In addition to the design files you should share all documentation available, as all explanations of your robot are invaluable in helping others to modify or manufacture your robot. Examples include, but are not limited to: * Manufacturing instructions * Assembly instructions * User manuals * Design rationale * System architecture == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = The first step you should take before you can publish on ROP is to request an account on the [[Special:RequestAccount | login page]]. == Requesting an account == {| style="width: 100%" | [[Image:Request.png|200px|thumb|right|Figure 3: Account request]] You are then asked to choose a username and specify your e-mail address indicated in Figure 3 as (1) and (2). Then after adding information on your real name (3) and a biography (4) and some optional additional information, you can send your account request (5). The request is then evaluated by the ROP webmaster and once accepted you will be notified by e-mail. Please fill in at least some details on your account, so your account request will be filtered from all the spam ROP receives. |} == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == For a contribution to ROP, you are required to host your design files at the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. You are required to use the following directory tree: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For contribution on ROP you are free to choose a license, as long as it is an open-source one. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] = Checklist = To summarize, there are numerous possible elements of a ROP contribution; consider the following checklist to ensure you have included all information at hand in your contribution. * Summary * Overview ** Component hierarchy * Specificatons * Bill Of Materials * Design files ** 3D CAD designs ** 2D CAD drawings ** Circuit board CAD files ** Electrical wiring ** Technical drawings ** Machining code * Software/firmware ** Code ** Documentation * Instructions/documentation ** Manufacturing instructions ** Assembly instructions ** User manuals ** Design rationale ** System architecture * Photos * Licensing * 3D Viewer 850 2014-03-16T15:31:58Z Tmhafkamp 53 /* Introduction */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP, which was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this page were mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. If any questions arise, do not hestitate to [http://www.roboticopenplatform.org/contact contact the ROP webmaster]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adapted and further developed by the community, so please include as much and clear as possible documentation. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == In addition to the design files you should share all documentation available, as all explanations of your robot are invaluable in helping others to modify or manufacture your robot. Examples include, but are not limited to: * Manufacturing instructions * Assembly instructions * User manuals * Design rationale * System architecture == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = The first step you should take before you can publish on ROP is to request an account on the [[Special:RequestAccount | login page]]. == Requesting an account == {| style="width: 100%" | [[Image:Request.png|200px|thumb|right|Figure 3: Account request]] You are then asked to choose a username and specify your e-mail address indicated in Figure 3 as (1) and (2). Then after adding information on your real name (3) and a biography (4) and some optional additional information, you can send your account request (5). The request is then evaluated by the ROP webmaster and once accepted you will be notified by e-mail. Please fill in at least some details on your account, so your account request will be filtered from all the spam ROP receives. |} == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == For a contribution to ROP, you are required to host your design files at the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. You are required to use the following directory tree: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For contribution on ROP you are free to choose a license, as long as it is an open-source one. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] = Checklist = To summarize, there are numerous possible elements of a ROP contribution; consider the following checklist to ensure you have included all information at hand in your contribution. * Summary * Overview ** Component hierarchy * Specificatons * Bill Of Materials * Design files ** 3D CAD designs ** 2D CAD drawings ** Circuit board CAD files ** Electrical wiring ** Technical drawings ** Machining code * Software/firmware ** Code ** Documentation * Instructions/documentation ** Manufacturing instructions ** Assembly instructions ** User manuals ** Design rationale ** System architecture * Photos * Licensing * 3D Viewer 851 2014-03-16T15:32:13Z Tmhafkamp 53 /* Introduction */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP, which was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this page were mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. If any questions arise, please do not hestitate to [http://www.roboticopenplatform.org/contact contact the ROP webmaster]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adapted and further developed by the community, so please include as much and clear as possible documentation. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == In addition to the design files you should share all documentation available, as all explanations of your robot are invaluable in helping others to modify or manufacture your robot. Examples include, but are not limited to: * Manufacturing instructions * Assembly instructions * User manuals * Design rationale * System architecture == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = The first step you should take before you can publish on ROP is to request an account on the [[Special:RequestAccount | login page]]. == Requesting an account == {| style="width: 100%" | [[Image:Request.png|200px|thumb|right|Figure 3: Account request]] You are then asked to choose a username and specify your e-mail address indicated in Figure 3 as (1) and (2). Then after adding information on your real name (3) and a biography (4) and some optional additional information, you can send your account request (5). The request is then evaluated by the ROP webmaster and once accepted you will be notified by e-mail. Please fill in at least some details on your account, so your account request will be filtered from all the spam ROP receives. |} == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == For a contribution to ROP, you are required to host your design files at the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. You are required to use the following directory tree: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For contribution on ROP you are free to choose a license, as long as it is an open-source one. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] = Checklist = To summarize, there are numerous possible elements of a ROP contribution; consider the following checklist to ensure you have included all information at hand in your contribution. * Summary * Overview ** Component hierarchy * Specificatons * Bill Of Materials * Design files ** 3D CAD designs ** 2D CAD drawings ** Circuit board CAD files ** Electrical wiring ** Technical drawings ** Machining code * Software/firmware ** Code ** Documentation * Instructions/documentation ** Manufacturing instructions ** Assembly instructions ** User manuals ** Design rationale ** System architecture * Photos * Licensing * 3D Viewer 852 2014-03-16T15:33:31Z Tmhafkamp 53 /* Software and Firmware */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP, which was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this page were mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. If any questions arise, please do not hestitate to [http://www.roboticopenplatform.org/contact contact the ROP webmaster]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adopted and further developed by the community, so please include as much documentation as possible. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == In addition to the design files you should share all documentation available, as all explanations of your robot are invaluable in helping others to modify or manufacture your robot. Examples include, but are not limited to: * Manufacturing instructions * Assembly instructions * User manuals * Design rationale * System architecture == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = The first step you should take before you can publish on ROP is to request an account on the [[Special:RequestAccount | login page]]. == Requesting an account == {| style="width: 100%" | [[Image:Request.png|200px|thumb|right|Figure 3: Account request]] You are then asked to choose a username and specify your e-mail address indicated in Figure 3 as (1) and (2). Then after adding information on your real name (3) and a biography (4) and some optional additional information, you can send your account request (5). The request is then evaluated by the ROP webmaster and once accepted you will be notified by e-mail. Please fill in at least some details on your account, so your account request will be filtered from all the spam ROP receives. |} == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == For a contribution to ROP, you are required to host your design files at the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. You are required to use the following directory tree: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For contribution on ROP you are free to choose a license, as long as it is an open-source one. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] = Checklist = To summarize, there are numerous possible elements of a ROP contribution; consider the following checklist to ensure you have included all information at hand in your contribution. * Summary * Overview ** Component hierarchy * Specificatons * Bill Of Materials * Design files ** 3D CAD designs ** 2D CAD drawings ** Circuit board CAD files ** Electrical wiring ** Technical drawings ** Machining code * Software/firmware ** Code ** Documentation * Instructions/documentation ** Manufacturing instructions ** Assembly instructions ** User manuals ** Design rationale ** System architecture * Photos * Licensing * 3D Viewer 853 2014-03-16T15:36:11Z Tmhafkamp 53 /* Licensing */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP, which was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this page were mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. If any questions arise, please do not hestitate to [http://www.roboticopenplatform.org/contact contact the ROP webmaster]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible before posting to the wiki, and uploading as much as possible at once. The following gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adopted and further developed by the community, so please include as much documentation as possible. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == In addition to the design files you should share all documentation available, as all explanations of your robot are invaluable in helping others to modify or manufacture your robot. Examples include, but are not limited to: * Manufacturing instructions * Assembly instructions * User manuals * Design rationale * System architecture == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = The first step you should take before you can publish on ROP is to request an account on the [[Special:RequestAccount | login page]]. == Requesting an account == {| style="width: 100%" | [[Image:Request.png|200px|thumb|right|Figure 3: Account request]] You are then asked to choose a username and specify your e-mail address indicated in Figure 3 as (1) and (2). Then after adding information on your real name (3) and a biography (4) and some optional additional information, you can send your account request (5). The request is then evaluated by the ROP webmaster and once accepted you will be notified by e-mail. Please fill in at least some details on your account, so your account request will be filtered from all the spam ROP receives. |} == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == For a contribution to ROP, you are required to host your design files at the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. You are required to use the following directory tree: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For a contribution to ROP you are free to choose an open-source license, as long as the ROP visitors are free to use your designs and further develop them. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] = Checklist = To summarize, there are numerous possible elements of a ROP contribution; consider the following checklist to ensure you have included all information at hand in your contribution. * Summary * Overview ** Component hierarchy * Specificatons * Bill Of Materials * Design files ** 3D CAD designs ** 2D CAD drawings ** Circuit board CAD files ** Electrical wiring ** Technical drawings ** Machining code * Software/firmware ** Code ** Documentation * Instructions/documentation ** Manufacturing instructions ** Assembly instructions ** User manuals ** Design rationale ** System architecture * Photos * Licensing * 3D Viewer 854 2014-03-16T15:39:25Z Tmhafkamp 53 /* Preparing the contribution of your project */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP, which was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this page were mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. If any questions arise, please do not hestitate to [http://www.roboticopenplatform.org/contact contact the ROP webmaster]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible prior to posting on the wiki, and uploading as much as possible at once. This is to prevent halfway finished projects on the wiki. The following gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adopted and further developed by the community, so please include as much documentation as possible. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == In addition to the design files you should share all documentation available, as all explanations of your robot are invaluable in helping others to modify or manufacture your robot. Examples include, but are not limited to: * Manufacturing instructions * Assembly instructions * User manuals * Design rationale * System architecture == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = The first step you should take before you can publish on ROP is to request an account on the [[Special:RequestAccount | login page]]. == Requesting an account == {| style="width: 100%" | [[Image:Request.png|200px|thumb|right|Figure 3: Account request]] You are then asked to choose a username and specify your e-mail address indicated in Figure 3 as (1) and (2). Then after adding information on your real name (3) and a biography (4) and some optional additional information, you can send your account request (5). The request is then evaluated by the ROP webmaster and once accepted you will be notified by e-mail. Please fill in at least some details on your account, so your account request will be filtered from all the spam ROP receives. |} == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == For a contribution to ROP, you are required to host your design files at the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. You are required to use the following directory tree: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For a contribution to ROP you are free to choose an open-source license, as long as the ROP visitors are free to use your designs and further develop them. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] = Checklist = To summarize, there are numerous possible elements of a ROP contribution; consider the following checklist to ensure you have included all information at hand in your contribution. * Summary * Overview ** Component hierarchy * Specificatons * Bill Of Materials * Design files ** 3D CAD designs ** 2D CAD drawings ** Circuit board CAD files ** Electrical wiring ** Technical drawings ** Machining code * Software/firmware ** Code ** Documentation * Instructions/documentation ** Manufacturing instructions ** Assembly instructions ** User manuals ** Design rationale ** System architecture * Photos * Licensing * 3D Viewer 855 2014-03-16T15:40:23Z Tmhafkamp 53 /* Preparing the contribution of your project */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP, which was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this page were mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. If any questions arise, please do not hestitate to [http://www.roboticopenplatform.org/contact contact the ROP webmaster]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible prior to posting on the wiki, and uploading as much as possible at once. This is to prevent projects from remainging halfway finished on the wiki for prolonged times. The following gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adopted and further developed by the community, so please include as much documentation as possible. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == In addition to the design files you should share all documentation available, as all explanations of your robot are invaluable in helping others to modify or manufacture your robot. Examples include, but are not limited to: * Manufacturing instructions * Assembly instructions * User manuals * Design rationale * System architecture == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = The first step you should take before you can publish on ROP is to request an account on the [[Special:RequestAccount | login page]]. == Requesting an account == {| style="width: 100%" | [[Image:Request.png|200px|thumb|right|Figure 3: Account request]] You are then asked to choose a username and specify your e-mail address indicated in Figure 3 as (1) and (2). Then after adding information on your real name (3) and a biography (4) and some optional additional information, you can send your account request (5). The request is then evaluated by the ROP webmaster and once accepted you will be notified by e-mail. Please fill in at least some details on your account, so your account request will be filtered from all the spam ROP receives. |} == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == For a contribution to ROP, you are required to host your design files at the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. You are required to use the following directory tree: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For a contribution to ROP you are free to choose an open-source license, as long as the ROP visitors are free to use your designs and further develop them. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] = Checklist = To summarize, there are numerous possible elements of a ROP contribution; consider the following checklist to ensure you have included all information at hand in your contribution. * Summary * Overview ** Component hierarchy * Specificatons * Bill Of Materials * Design files ** 3D CAD designs ** 2D CAD drawings ** Circuit board CAD files ** Electrical wiring ** Technical drawings ** Machining code * Software/firmware ** Code ** Documentation * Instructions/documentation ** Manufacturing instructions ** Assembly instructions ** User manuals ** Design rationale ** System architecture * Photos * Licensing * 3D Viewer 856 2014-03-16T15:40:35Z Tmhafkamp 53 /* Preparing the contribution of your project */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP, which was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this page were mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. If any questions arise, please do not hestitate to [http://www.roboticopenplatform.org/contact contact the ROP webmaster]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible prior to posting on the wiki, and uploading as much as possible at once. This is to prevent projects from remainging halfway finished on the wiki for prolonged periods. The following gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist for the possible elements of a robotics project is included. = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adopted and further developed by the community, so please include as much documentation as possible. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == In addition to the design files you should share all documentation available, as all explanations of your robot are invaluable in helping others to modify or manufacture your robot. Examples include, but are not limited to: * Manufacturing instructions * Assembly instructions * User manuals * Design rationale * System architecture == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = The first step you should take before you can publish on ROP is to request an account on the [[Special:RequestAccount | login page]]. == Requesting an account == {| style="width: 100%" | [[Image:Request.png|200px|thumb|right|Figure 3: Account request]] You are then asked to choose a username and specify your e-mail address indicated in Figure 3 as (1) and (2). Then after adding information on your real name (3) and a biography (4) and some optional additional information, you can send your account request (5). The request is then evaluated by the ROP webmaster and once accepted you will be notified by e-mail. Please fill in at least some details on your account, so your account request will be filtered from all the spam ROP receives. |} == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == For a contribution to ROP, you are required to host your design files at the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. You are required to use the following directory tree: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For a contribution to ROP you are free to choose an open-source license, as long as the ROP visitors are free to use your designs and further develop them. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] = Checklist = To summarize, there are numerous possible elements of a ROP contribution; consider the following checklist to ensure you have included all information at hand in your contribution. * Summary * Overview ** Component hierarchy * Specificatons * Bill Of Materials * Design files ** 3D CAD designs ** 2D CAD drawings ** Circuit board CAD files ** Electrical wiring ** Technical drawings ** Machining code * Software/firmware ** Code ** Documentation * Instructions/documentation ** Manufacturing instructions ** Assembly instructions ** User manuals ** Design rationale ** System architecture * Photos * Licensing * 3D Viewer 857 2014-03-16T15:44:51Z Tmhafkamp 53 /* Preparing the contribution of your project */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP, which was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this page were mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. If any questions arise, please do not hestitate to [http://www.roboticopenplatform.org/contact contact the ROP webmaster]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible prior to posting on the wiki, and uploading as much as possible at once. This is to prevent projects from remainging halfway finished on the wiki for prolonged periods. The following gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist of the possible elements of a robotics project is included. The minimum you are required to publish for a ROP contribution is: *Summary *Overview *Bill Of Materials *3D CAD designs *Electrical schemes *Software *Licensing = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adopted and further developed by the community, so please include as much documentation as possible. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == In addition to the design files you should share all documentation available, as all explanations of your robot are invaluable in helping others to modify or manufacture your robot. Examples include, but are not limited to: * Manufacturing instructions * Assembly instructions * User manuals * Design rationale * System architecture == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = The first step you should take before you can publish on ROP is to request an account on the [[Special:RequestAccount | login page]]. == Requesting an account == {| style="width: 100%" | [[Image:Request.png|200px|thumb|right|Figure 3: Account request]] You are then asked to choose a username and specify your e-mail address indicated in Figure 3 as (1) and (2). Then after adding information on your real name (3) and a biography (4) and some optional additional information, you can send your account request (5). The request is then evaluated by the ROP webmaster and once accepted you will be notified by e-mail. Please fill in at least some details on your account, so your account request will be filtered from all the spam ROP receives. |} == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == For a contribution to ROP, you are required to host your design files at the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. You are required to use the following directory tree: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For a contribution to ROP you are free to choose an open-source license, as long as the ROP visitors are free to use your designs and further develop them. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] = Checklist = To summarize, there are numerous possible elements of a ROP contribution; consider the following checklist to ensure you have included all information at hand in your contribution. * Summary * Overview ** Component hierarchy * Specificatons * Bill Of Materials * Design files ** 3D CAD designs ** 2D CAD drawings ** Circuit board CAD files ** Electrical wiring ** Technical drawings ** Machining code * Software/firmware ** Code ** Documentation * Instructions/documentation ** Manufacturing instructions ** Assembly instructions ** User manuals ** Design rationale ** System architecture * Photos * Licensing * 3D Viewer 858 2014-03-16T15:45:32Z Tmhafkamp 53 /* Preparing the contribution of your project */ __TOC__ = Introduction = This manual was written with the purpose of facilitating the contribution process to ROP, which was launched to become a central place for the exchange of robotic hardware designs through embedded wiki pages. Comparable to open source software, companies and research institutions can release their robot hardware design on ROP under an open hardware license. The essence of sharing open-source hardware is sharing the design files, but there are many other hardware design-related files that can decrease the development efforts required to build a robot. Please note that you are not required to post all files discussed below, but the more you contribute, the faster your design will be adopted by the community. The contents of this page were mainly based on a work of the Open Source Hardware Association (OSHWA) on the [http://www.oshwa.org/sharing-best-practices/ best practices for sharing open-source hardware]. If any questions arise, please do not hestitate to [http://www.roboticopenplatform.org/contact contact the ROP webmaster]. == Preparing the contribution of your project == For the sake of a neat and tidy wiki, you are encouraged to prepare as much information as possible prior to posting on the wiki, and uploading as much as possible at once. This is to prevent projects from remainging halfway finished on the wiki for prolonged periods. The following gives a guideline for some of the files and descriptions you should consider sharing on ROP. For your convenience a checklist of the possible elements of a robotics project is included. '''The minimum you are required to publish for a ROP contribution is:''' *Summary *Overview *Bill Of Materials *3D CAD designs *Electrical schemes *Software *Licensing = Elements of a ROP contribution = This section describes some of the files you should consider sharing when publishing your project on ROP. == Summary == The project description should include a brief summary describing the robot's identity and purpose. Furthermore please provide hyperlinks to: * Author: the author's website * License: the license your project is published under * Hardware: the hardware repository * Software: the software respository == Overview == {| style="width: 100%" | [[Image:PBSexample.png|200px|thumb|right|Figure 1: PBS example]] The project description should include a clear description of the robot functionality and an overview of the robot layout. A component hierarchy or product breakdown structure is also very beneficial for the comprehensibility of the robot structure, see Figure 1 for an example. |} == Specifications == A list of specifications should be included with the project description, preferably partitioned in accordance with the robot component division. The specifications can include, but are not limited to: * Construction: Overall dimensions, weight etc. * Electrical: Batteries, motors etc. * Computers and processors used etc. * Communication: Network technology used etc. * Sensors: E.g. audio or vision components * Software: Operating system etc. * Degrees of Freedom: DOFs of respective components == Design Files == Sharing the ''original'' design files is the core practice of open-source hardware development. This is important because the original design files constitute the source code for the hardware. To maximize the ability of others to view and edit the source files, it is recommended to use free open-source software to create the original designs. All design files should be version controlled. In addition to the original design files, it is often helpful to share your design in additional, more accessible and commonly used interchange and export formats. Moreover it can also be helpful to share ready-to-view outputs that can easily be viewed by end users such as a PDF of a technical drawing or a 3D viewer of the robot design. Examples of design files you should consider including are: * 3D CAD designs ** Assemblies and parts ** 3D designs ready for e.g. 3D printing, molding etc. ** Component libraries e.g. fastener libaries ** Formats: native, STEP, STL * 2D CAD drawings ** 2D designs ready for e.g. laser cutting ** Formats: native, DXF, SVG, PDF * Circuit board CAD files ** Electrical schemes ** PCB layouts ** Formats: native, PDF * Electrical wiring ** Cable layouts, connector pinouts etc. ** Formats: native, PDF * Technical drawings ** Engineering drawings showing dimensions and tolerances ** Exploded views ** Formats: native, PDF * Machining code ** Code for machining a part ** Formats: e.g. G-code, STEP-NC, STL == Bill of Materials == {| style="width: 100%" | [[Image:BOM.jpg|200px|thumb|right|Figure 1: PBS example]] It is very important to provide a separate Bill of Materials (BOM) in addition to the design files for the community to easily reproduce your robot design. The BOM - see Figure 2 - is a list of the assemblies, components and parts needed to build the robot. Include as much useful infomation as possible, such as: * Item number (in robot component hierarchy) * Short part description * Quantity * Supplier and part number * Costs * Raw materials (if to be manufactured) Make sure that it is easy to tell which item in the bill of materials corresponds to which component in your design files. It would be wise to name e.g. the CAD files in accordance with the BOM item numbers and descriptions. Furthermore try to build up the BOM according to the component hierarchy and to include diagrams indicating which part goes where. |} == Software and Firmware == Any software or firmware code required to operate your robot should be shared so the community can modify it along with their hardware modifications. Proper documentation of the code significantly improves the probability that your code will be adopted and further developed by the community, so please include as much documentation as possible. It would also be helpful to provide information on the the stability and robustness of the software. == Instructions and Documentation == In addition to the design files you should share all documentation available, as all explanations of your robot are invaluable in helping others to modify or manufacture your robot. Examples include, but are not limited to: * Manufacturing instructions * Assembly instructions * User manuals * Design rationale * System architecture == Photos == Including photos of your robotic project helps people to understand what your project is. Try to include photos of the overall robot and details from multiple viewpoints and at various stages of assembly to facilitate those striving to reproduce the robot. = Publishing on ROP = The first step you should take before you can publish on ROP is to request an account on the [[Special:RequestAccount | login page]]. == Requesting an account == {| style="width: 100%" | [[Image:Request.png|200px|thumb|right|Figure 3: Account request]] You are then asked to choose a username and specify your e-mail address indicated in Figure 3 as (1) and (2). Then after adding information on your real name (3) and a biography (4) and some optional additional information, you can send your account request (5). The request is then evaluated by the ROP webmaster and once accepted you will be notified by e-mail. Please fill in at least some details on your account, so your account request will be filtered from all the spam ROP receives. |} == Wiki Style Guide == Once your account has been activated you can create pages on the wiki. To ensure a consistent style and layout throughout the wiki, you are asked to follow a [[Style Guide| style guide]], which can be found [[Style Guide| here]]. == Hosting Design Files == For a contribution to ROP, you are required to host your design files at the ROP repository. Please [http://www.roboticopenplatform.org/contact contact the ROP webmaster] for an account. The ROP repository is running [http://subversion.apache.org/ Apache Subversion], so you will be asked to install a client. Especially in hosting your design files it is of importance to have them properly structured and arranged into subfolders. You are required to use the following directory tree: *Bill Of Materials *Electrical Designs **Circuit Boards ***Schemes ****<<Native Format>> ****PDF ***PCB Layouts ****<<Native Format>> ****PDF **Wiring Schemes ***<<Native Format>> ***PDF *Instructions **Assembly Instructions **Manufacturing Instructions **User Manuals *License *Mechanical Designs **3D CAD Models ***<<Native Format>> ***STEP **Technical Drawings ***<<Native Format>> ***PDF **Manufacturing Files ***2D Cuttable Files ****<<Native Format>> ****PDF ***3D Printable Files ****<<Native Format>> ****STL **Machining Code *Photos **Parts **Assembled *Software **Code **Documentation == Licensing == The use of licenses is important to signal others how they can use your work. There are many open-source licenses, but they can be roughly divided in two categories: copyleft and permissive licenses. ''Copyleft'' licenses are licenses which require that derivatives be licensed under the same open-source terms, whereas ''permissive'' licenses allow others to make modifications without releasing them as open-source hardware. For a contribution to ROP you are free to choose an open-source license, as long as the ROP visitors are free to use your designs and further develop them. In any case, be sure to be crisp clear on which license applies to which design. Popular copyleft licenses include: * [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons Attribution, Share-Alike (BY-SA)] * [http://www.gnu.org/licenses/gpl.html GNU General Public License (GPL)] * Hardware-Specific Licenses: [http://www.tapr.org/OHL TAPR OHL], [http://www.ohwr.org/projects/cernohl/wiki CERN OHL] Popular permissive licenses include: * [http://opensource.org/licenses/BSD-2-Clause FreeBSD license] * [http://opensource.org/licenses/MIT MIT license] * [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution (BY)] = Checklist = To summarize, there are numerous possible elements of a ROP contribution; consider the following checklist to ensure you have included all information at hand in your contribution. * Summary * Overview ** Component hierarchy * Specificatons * Bill Of Materials * Design files ** 3D CAD designs ** 2D CAD drawings ** Circuit board CAD files ** Electrical wiring ** Technical drawings ** Machining code * Software/firmware ** Code ** Documentation * Instructions/documentation ** Manufacturing instructions ** Assembly instructions ** User manuals ** Design rationale ** System architecture * Photos * Licensing * 3D Viewer 215 871 2014-06-24T13:49:11Z Fruitcake 1 Created page with "Hieronder is deze pagina ge-embed: https://sketchfab.com/models/8b67bb9354854543b709c1c54c762081 {{#widget:Iframe |url=https://sketchfab.com/models/8b67bb9354854543b709c1c54c7620..." Hieronder is deze pagina ge-embed: https://sketchfab.com/models/8b67bb9354854543b709c1c54c762081 {{#widget:Iframe |url=https://sketchfab.com/models/8b67bb9354854543b709c1c54c762081/embed |width=640 |height=480 |border=0 }} 872 2014-06-25T09:05:30Z Tmhafkamp 53 Hieronder is deze pagina ge-embed: https://sketchfab.com/models/8b67bb9354854543b709c1c54c762081 {{#widget:Iframe |url=https://sketchfab.com/models/8b67bb9354854543b709c1c54c762081/embed |width=640 |height=480 |border=0 }} {{#widget:Facebook Like Box|profile=https://www.facebook.com/pages/Robotic-Open-Platform/277523688967633}} 873 2014-06-25T09:06:25Z Tmhafkamp 53 Hieronder is deze pagina ge-embed: https://sketchfab.com/models/8b67bb9354854543b709c1c54c762081 {{#widget:Iframe |url=https://sketchfab.com/models/8b67bb9354854543b709c1c54c762081/embed |width=640 |height=480 |border=0 }} {{#widget:Facebook Like Box|profile=http://www.facebook.com/pages/Robotic-Open-Platform/277523688967633}} 874 2014-06-25T09:06:35Z Tmhafkamp 53 Hieronder is deze pagina ge-embed: https://sketchfab.com/models/8b67bb9354854543b709c1c54c762081 {{#widget:Iframe |url=https://sketchfab.com/models/8b67bb9354854543b709c1c54c762081/embed |width=640 |height=480 |border=0 }} 876 2014-06-25T09:18:06Z Tmhafkamp 53 Hieronder is deze pagina ge-embed: https://sketchfab.com/models/8b67bb9354854543b709c1c54c762081 {{#widget:Iframe |url=https://sketchfab.com/models/8b67bb9354854543b709c1c54c762081/embed |width=640 |height=480 |border=0 }} {{#widget:Facebook Like Box|profile=https://www.facebook.com/pages/Robotic-Open-Platform/277523688967633}} 1 1 2011-10-20T11:34:40Z MediaWiki default '''MediaWiki has been successfully installed.''' Consult the [http://meta.wikimedia.org/wiki/Help:Contents User's Guide] for information on using the wiki software. == Getting started == * [http://www.mediawiki.org/wiki/Manual:Configuration_settings Configuration settings list] * [http://www.mediawiki.org/wiki/Manual:FAQ MediaWiki FAQ] * [https://lists.wikimedia.org/mailman/listinfo/mediawiki-announce MediaWiki release mailing list] 2 2011-10-24T14:00:50Z P.M.G. Metsemakers 2 Welcome '''MediaWiki has been successfully installed.''' Consult the [http://meta.wikimedia.org/wiki/Help:Contents User's Guide] for information on using the wiki software. ROP (Robot Open Platform) A.M.I.G.O. (Autonomous Mate for IntelliGent Operations) 3 2011-10-24T14:01:49Z P.M.G. Metsemakers 2 ROP (Robot Open Platform) A.M.I.G.O. (Autonomous Mate for IntelliGent Operations) 4 2011-10-24T14:03:30Z P.M.G. Metsemakers 2 '''Robot Open Platform''' ''A.M.I.G.O.'' Autonomous Mate for IntelliGent Operations 5 2011-10-24T14:05:21Z P.M.G. Metsemakers 2 '''Robot Open Platform''' ''A.M.I.G.O.'' Autonomous Mate for IntelliGent Operations 6 2011-10-24T14:18:51Z P.M.G. Metsemakers 2 ==Robot Open Platform== =A.M.I.G.O.= Autonomous Mate for IntelliGent Operations 7 2011-10-24T14:19:58Z P.M.G. Metsemakers 2 =Robot Open Platform= ===A.M.I.G.O.=== Autonomous Mate for IntelliGent Operations 8 2011-10-24T14:33:36Z P.M.G. Metsemakers 2 = Robot Open Platform = '''A.M.I.G.O.''' <br> [[General Information]] <br> [[Hardware]] <br> [[Software]] <br> 9 2011-10-25T14:07:35Z P.M.G. Metsemakers 2 /* Robot Open Platform */ <center> = Robot Open Platform = </center> <br> '''A.M.I.G.O.''' <br> * [[A.M.I.G.O. General Information|General Information]] <br> * [[A.M.I.G.O. Hardware|Hardware]] <br> * [[A.M.I.G.O. Software|Software]] <br> 13 2011-10-26T08:23:57Z P.M.G. Metsemakers 2 /* Robot Open Platform */ <center> = Robot Open Platform = </center> <br> '''AMIGO''' <br> * [[AMIGO General Information|General Information]] <br> * [[AMIGO Hardware|Hardware]] <br> * [[AMIGO Software|Software]] <br> 28 2011-10-26T13:41:04Z P.M.G. Metsemakers 2 /* Robot Open Platform */ <center> <center> = Robot Open Platform = </center> <br> = '''AMIGO''' = [[Image:amigo_small.jpg|300px|thumb|right|Figure 1:AMIGO]] * [[AMIGO General Information|General Information]] <br> * [[AMIGO Hardware|Hardware]] <br> * [[AMIGO Software|Software]] <br> 29 2011-10-26T13:41:15Z P.M.G. Metsemakers 2 <center> = Robot Open Platform = </center> <br> = '''AMIGO''' = [[Image:amigo_small.jpg|300px|thumb|right|Figure 1:AMIGO]] * [[AMIGO General Information|General Information]] <br> * [[AMIGO Hardware|Hardware]] <br> * [[AMIGO Software|Software]] <br> 31 2011-10-26T17:25:11Z 84.28.8.55 __TOC__ = [[AMIGO|'''AMIGO''']] = [[Image:amigo_small.jpg|300px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. * Author: Tech United * Parts: [[AMIGO Head|Head]] | [[AMIGO Upper Body|Upper Body]] | [[AMIGO Arms|Arms]] | [[AMIGO Lifting Mechanism|Lifting Mechanism]] | [[AMIGO Base|Base]] 33 2011-10-26T17:28:21Z 84.28.8.55 /* AMIGO */ __TOC__ = [[AMIGO|'''AMIGO''']] = [[Image:amigo_small.jpg|300px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. * Author: Tech United * Parts: [[AMIGO Head|Head]], [[AMIGO Upper Body|Upper Body]], [[AMIGO Arms|Arms]], [[AMIGO Lifting Mechanism|Lifting Mechanism]], [[AMIGO Base|Base]] 43 2011-11-09T08:44:31Z P.M.G. Metsemakers 2 /* AMIGO */ __TOC__ = [[AMIGO|'''AMIGO''']] = [[Image:amigo_small.jpg|300px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. * Author: Tech United * Parts: [[AMIGO Head|Head]], [[AMIGO Upper Body|Upper Body]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] 50 2011-11-09T10:06:50Z P.M.G. Metsemakers 2 /* AMIGO */ __TOC__ = [[AMIGO|'''AMIGO''']] = [[Image:amigo_small.jpg|300px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. * Author: Tech United * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] 57 2011-11-09T10:31:39Z P.M.G. Metsemakers 2 /* AMIGO */ __TOC__ = [[AMIGO|'''AMIGO''']] = [[Image:Amigo_BIG.jpg|300px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. * Author: Tech United * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] 58 2011-11-09T10:32:09Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the University of Technology Eindhoven which participates in the RoboCup@Home league. * Author: Tech United * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] 86 2011-11-21T12:13:36Z P.M.G. Metsemakers 2 /* AMIGO */ __TOC__ = [[AMIGO|'''AMIGO''']] = [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: Tech United * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] 87 2011-11-21T12:14:07Z P.M.G. Metsemakers 2 /* AMIGO */ __TOC__ = [[AMIGO|'''AMIGO''']] = [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] 100 2011-11-21T13:10:06Z P.M.G. Metsemakers 2 __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] 151 2011-11-23T12:45:38Z P.M.G. Metsemakers 2 __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = [[Image:Amigo_BIG.jpg|200px|thumb|right|align|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] <br><br><br><br><br><br><br><br><br><br><br><br><br><br> = [[Turle|'''Turtle''']] = [[Image:Turtle_BIG.jpg|200px|thumb|right|align|Figure 2:Turtle]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] 152 2011-11-23T12:47:54Z P.M.G. Metsemakers 2 /* Turtle */ __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = [[Image:Amigo_BIG.jpg|200px|thumb|right|align|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] <br><br><br><br><br><br><br><br><br><br><br><br><br><br> = [[Turle|'''Turtle''']] = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. [[Image:Turtle_BIG.jpg|200px|thumb|right|align|Figure 2:Turtle]] * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] 153 2011-11-23T12:48:20Z P.M.G. Metsemakers 2 /* AMIGO */ __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. [[Image:Amigo_BIG.jpg|200px|thumb|right|align|Figure 1:AMIGO]] * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] <br><br><br><br><br><br><br><br><br><br><br><br><br><br> = [[Turle|'''Turtle''']] = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. [[Image:Turtle_BIG.jpg|200px|thumb|right|align|Figure 2:Turtle]] * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] 154 2011-11-23T12:51:57Z P.M.G. Metsemakers 2 __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] <br><br><br><br><br><br><br><br><br><br><br><br><br><br> = [[Turle|'''Turtle''']] = Turtles are the football robots that compete in the Mid-Size League for [http://www.tue.nl/en University of Technology Eindhoven]. [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] * Author: [http://www.techunited.nl/en Tech United] * Parts: [Under Construction] 155 2011-11-23T12:52:09Z P.M.G. Metsemakers 2 /* Turtle */ __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] <br><br><br><br><br><br><br><br><br><br><br><br><br><br> = [[Turle|'''Turtle''']] = Turtles are the football robots that compete in the Mid-Size League for [http://www.tue.nl/en University of Technology Eindhoven]. [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] * Author: [http://www.techunited.nl/en Tech United] * Parts: [[Under Construction]] 156 2011-11-23T12:52:59Z P.M.G. Metsemakers 2 __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] <br><br><br><br><br><br><br><br><br><br><br><br><br><br> = [[Turle|'''Turtle''']] = [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] Turtles are the football robots that compete in the Mid-Size League for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[Under Construction]] 157 2011-11-23T12:53:39Z P.M.G. Metsemakers 2 /* Turtle */ __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] <br><br><br><br><br><br><br><br><br><br><br><br><br><br> = [[Turle|'''Turtle''']] = [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] Turtles are the football robots that compete in the Mid-Size League for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[Coming Soon]] 158 2011-11-23T13:06:36Z P.M.G. Metsemakers 2 __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[Turle|'''Turtle''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] Turtles are the football robots that compete in the Mid-Size League for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[Coming Soon]] |} 164 2011-11-23T13:26:14Z P.M.G. Metsemakers 2 /* AMIGO */ __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[Turle|'''Turtle''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] Turtles are the football robots that compete in the Mid-Size League for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[Coming Soon]] |} 194 2011-11-23T22:41:44Z P.M.G. Metsemakers 2 /* Turtle */ __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[Turle|'''Turtle''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] Turtles are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * Parts: [[Coming Soon]] |} 207 2011-11-24T11:31:12Z P.M.G. Metsemakers 2 __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[Turle|'''Turtle''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] Turtles are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * License: * Parts: [[Coming Soon]] |} 208 2011-11-24T11:31:59Z P.M.G. Metsemakers 2 /* Turtle */ __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[Turle|'''Turtle''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] Turtles are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://www.techunited.nl/en Tech United] * License: * Parts: [[Coming Soon]] |} 209 2011-11-24T11:32:45Z P.M.G. Metsemakers 2 /* Turtle */ __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[Turle|'''Turtle''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] Turtles are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Parts: [[Coming Soon]] |} 218 2011-11-24T12:07:07Z P.M.G. Metsemakers 2 /* Turtle */ __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] Turtles are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Parts: [[Coming Soon]] |} 219 2011-11-24T12:07:19Z P.M.G. Metsemakers 2 /* TURTLE */ __TOC__ [[Getting Started|Getting Started]] = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Parts: [[Coming Soon]] |} 285 2011-11-28T12:26:54Z 131.155.245.152 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: * Parts: [[Coming Soon]] |} 296 2011-11-28T12:55:32Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2:Turtle]] TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Parts: [[Coming Soon]] |} 313 2011-11-29T09:52:34Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1:AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Parts: [[Coming Soon]] |} 314 2011-11-29T09:52:47Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: BSD * Parts: [[Coming Soon]] |} 350 2011-11-30T18:53:23Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: CERN OHL v.1.1 * Parts: [[Coming Soon]] |} 390 2011-12-02T10:15:34Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[Coming Soon]] |} 417 2011-12-06T16:06:36Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[Coming Soon]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] TurtleBot is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://freedomdefined.org/OSHW OSHW] * Parts: [http://turtlebot.com/build/create.htm http://turtlebot.com/build/create.html] |} 420 2011-12-06T16:28:19Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[Coming Soon]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] TurtleBot is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://turtlebot.com/build/create.htm http://turtlebot.com/build/create.html] |} 422 2011-12-06T16:38:38Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] AMIGO is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[Coming Soon]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] TurtleBot is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} 430 2011-12-06T19:22:15Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en University of Technology Eindhoven]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[Coming Soon]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} 443 2011-12-09T10:33:42Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[Coming Soon]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} 533 2012-02-02T21:26:11Z Stephane.magnenat 33 Added Thymio II __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[Coming Soon]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [http://aseba.wikidot.com/en:thymio '''Thymio II'''] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Author: [http://mobots.epfl.ch/ EPFL-Mobots] and [http://www.ecal.ch ECAL] and [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} 535 2012-02-02T21:30:06Z Stephane.magnenat 33 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[Coming Soon]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [http://aseba.wikidot.com/en:thymio '''Thymio II'''] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Author: [http://mobots.epfl.ch/ EPFL-Mobots] and [http://www.ecal.ch ECAL] and [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} 537 2012-02-03T09:01:13Z P.M.G. Metsemakers 2 /* Thymio II */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[Coming Soon]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Author: [http://mobots.epfl.ch/ EPFL-Mobots] and [http://www.ecal.ch ECAL] and [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} 544 2012-02-03T09:28:33Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[Coming Soon]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Author: [http://mobots.epfl.ch/ EPFL-Mobots] and [http://www.ecal.ch ECAL] and [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} 588 2012-09-11T18:34:25Z J Bos 45 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[Coming Soon]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Author: [http://mobots.epfl.ch/ EPFL-Mobots] and [http://www.ecal.ch ECAL] and [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} 681 2012-09-26T12:44:22Z J Bos 45 /* TURTLE */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Author: [http://mobots.epfl.ch/ EPFL-Mobots] and [http://www.ecal.ch ECAL] and [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} 682 2012-09-26T12:44:56Z J Bos 45 /* TURTLE */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Author: [http://mobots.epfl.ch/ EPFL-Mobots] and [http://www.ecal.ch ECAL] and [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} 705 2012-12-04T10:40:46Z Inf6UB 47 __TOC__ = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 1: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Author: [http://mobots.epfl.ch/ EPFL-Mobots] and [http://www.ecal.ch ECAL] and [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} 707 2012-12-07T10:52:03Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Author: [http://mobots.epfl.ch/ EPFL-Mobots] and [http://www.ecal.ch ECAL] and [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} 731 2013-02-26T08:29:48Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} = [[TURTLE-5K|'''TURTLE-5K''']] = {| style="width: 100%" | [[Image:TURTLE-5K_BIG.jpg|200px|thumb|right|Figure 1: TURTLE-5K]] A remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} 732 2013-02-26T08:30:11Z P.M.G. Metsemakers 2 /* TURTLE-5K */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} = [[TURTLE-5K|'''TURTLE-5K''']] = {| style="width: 100%" | [[Image:TURTLE-5K_BIG.jpg|200px|thumb|right|Figure 6: TURTLE-5K]] A remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} 734 2013-02-26T08:31:35Z P.M.G. Metsemakers 2 /* TURTLE-5K */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} = [[TURTLE-5K|'''TURTLE-5K''']] = {| style="width: 100%" | [[Image:TURTLE-5K_BIG.jpg|200px|thumb|right|Figure 6: TURTLE-5K]] The [[TURTLE-5K|TURTLE-5K]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} 752 2013-03-26T13:59:22Z P.M.G. Metsemakers 2 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K_BIG.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} 769 2013-12-31T11:51:49Z Tmhafkamp 53 /* TurtleBot */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K_BIG.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} 775 2013-12-31T14:12:53Z Tmhafkamp 53 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[AMIGO2|'''AMIGO 2''']] = = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K_BIG.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} 778 2013-12-31T14:23:27Z Tmhafkamp 53 /* AMIGO 2 */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[AMIGO2|'''AMIGO 2''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: AMIGO 2 standing, front]] [[AMIGO2|AMIGO 2]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[AMIGO2|AMIGO 2]] is currently under development. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K_BIG.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} 779 2013-12-31T14:24:04Z Tmhafkamp 53 /* AMIGO 2 */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[AMIGO2|'''AMIGO 2''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: AMIGO 2 standing, front]] [[AMIGO2|AMIGO 2]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[AMIGO2|AMIGO 2]] is currently under development. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K_BIG.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} 780 2013-12-31T14:29:26Z Tmhafkamp 53 /* AMIGO 2 */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[AMIGO2|'''AMIGO 2''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: AMIGO 2 rendering]] [[AMIGO2|AMIGO 2]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[AMIGO2|AMIGO 2]] is currently under development. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K_BIG.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} 784 2013-12-31T14:46:09Z Tmhafkamp 53 /* AMIGO 2 */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[AMIGO2|'''AMIGO 2''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: AMIGO 2 rendering]] [[AMIGO2|AMIGO 2]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[AMIGO2|AMIGO 2]] is currently under development. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K_BIG.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} 869 2014-06-24T13:31:15Z Tmhafkamp 53 /* SERGIO */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[SERGIO|'''SERGIO''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: SERGIO rendering]] [[SERGIO|SERGIO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[SERGIO|SERGIO]] is currently under development. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K_BIG.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} 877 2014-07-09T07:49:14Z Tmhafkamp 53 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[SERGIO|'''SERGIO''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: SERGIO rendering]] [[SERGIO|SERGIO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[SERGIO|SERGIO]] is currently under development. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K_BIG.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} 956 2014-07-15T11:50:15Z Tmhafkamp 53 /* TURTLE-5k */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[SERGIO|'''SERGIO''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: SERGIO rendering]] [[SERGIO|SERGIO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[SERGIO|SERGIO]] is currently under development. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} 981 2014-07-21T13:37:54Z Tmhafkamp 53 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[SERGIO|'''SERGIO''']] = {| style="width: 100%"f | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: SERGIO rendering]] [[SERGIO|SERGIO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[SERGIO|SERGIO]] is currently under development. * Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, , [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} 982 2014-07-21T13:41:14Z Tmhafkamp 53 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[SERGIO|'''SERGIO''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: SERGIO rendering]] [[SERGIO|SERGIO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[SERGIO|SERGIO]] is currently under development. * Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} 986 2014-07-21T13:44:08Z Tmhafkamp 53 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[SERGIO|'''SERGIO''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: SERGIO rendering]] [[SERGIO|SERGIO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[SERGIO|SERGIO]] is currently under development. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: ''Coming Soon'' |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} 991 2014-07-21T13:49:18Z Tmhafkamp 53 /* TURTLE-5k */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[SERGIO|'''SERGIO''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: SERGIO rendering]] [[SERGIO|SERGIO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[SERGIO|SERGIO]] is currently under development. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ repository] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} 1004 2014-08-26T13:35:48Z Tmhafkamp 53 /* TURTLE */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[SERGIO|'''SERGIO''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: SERGIO rendering]] [[SERGIO|SERGIO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[SERGIO|SERGIO]] is currently under development. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]], Goalkeeper |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ repository] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} 1005 2014-08-26T13:36:52Z Tmhafkamp 53 /* TURTLE */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[SERGIO|'''SERGIO''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: SERGIO rendering]] [[SERGIO|SERGIO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[SERGIO|SERGIO]] is currently under development. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]], [[TURTLE Goalkeeper|Goalkeeper]] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ repository] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} 1006 2014-08-26T13:37:02Z Tmhafkamp 53 /* TURTLE */ __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[SERGIO|'''SERGIO''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: SERGIO rendering]] [[SERGIO|SERGIO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[SERGIO|SERGIO]] is currently under development. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] , [[TURTLE Goalkeeper|Goalkeeper]] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ repository] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} 1032 2020-03-18T08:21:25Z Whoutman 74 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[SERGIO|'''SERGIO''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: SERGIO rendering]] [[SERGIO|SERGIO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[SERGIO|SERGIO]] is currently under development. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [https://msl.robocup.org/ RoboCup Middle Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] , [[TURTLE Goalkeeper|Goalkeeper]] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ repository] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} 1033 2020-03-25T07:24:07Z Whoutman 74 __TOC__ = [[AMIGO|'''AMIGO''']] = {| style="width: 100%" | [[Image:Amigo_BIG.jpg|200px|thumb|right|Figure 1: AMIGO]] [[AMIGO|AMIGO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[AMIGO Head|Head]], [[AMIGO Arms|Arms]], [[AMIGO Torso|Torso]], [[AMIGO Base|Base]] |} = [[SERGIO|'''SERGIO''']] = {| style="width: 100%" | [[Image:Total_assy_v1.png|200px|thumb|right|Figure 1: SERGIO rendering]] [[SERGIO|SERGIO]] is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology] and is the successor of [[AMIGO|AMIGO 1]]. [[SERGIO|SERGIO]] is currently under development. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] |} = [[TURTLE|'''TURTLE''']] = {|style="width: 100%" | [[Image:Turtle_BIG.jpg|200px|thumb|right|Figure 2: TURTLE]] [[TURTLE|TURTLEs]] are the football robots that compete in the [https://msl.robocup.org/ RoboCup Middle Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [[TURTLE Base|Base]] , [[TURTLE Upper Body|Upper Body]] , [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] , [[TURTLE Goalkeeper|Goalkeeper]], [[TURTLE 8-Wheeled Base|8-Wheeled Base]] |} = [[TURTLE-5K|'''TURTLE-5k''']] = {| style="width: 100%" | [[Image:TURTLE-5K.jpg|200px|thumb|right|Figure 6: TURTLE-5k]] The [[TURTLE-5K|TURTLE-5k]] is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Parts: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ repository] |} = [[TurtleBot|'''TurtleBot''']] = {|style="width: 100%" | [[Image:TurtleBot_BIG.jpg|200px|thumb|right|Figure 3: TurtleBot]] [[TurtleBot|TurtleBot]] is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Parts: [http://www.turtlebot.com/ http://www.turtlebot.com/] |} = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Authors: [http://mobots.epfl.ch/ EPFL-Mobots], [http://www.ecal.ch ECAL], [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} = [[NimbRo-OP|'''NimbRo-OP''']] = {| style="width: 100%" | [[Image:NimbRo-OP.jpg|200px|thumb|right|Figure 5: NimbRo-OP]] [[NimbRo-OP|NimbRo-OP]] is a modular, open-source humanoid robot for research of the [http://www.nimbro.net/OP/ Autonomous Intelligent Systems Group], University of Bonn. * Author: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * License: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] * Parts: [http://www.nimbro.net/OP/ see: http://www.nimbro.net/OP/] |} 175 706 2012-12-04T10:47:37Z Inf6UB 47 Created page with "see: http://www.nimbro.net/OP/" see: http://www.nimbro.net/OP/ 22 102 2011-11-21T13:23:13Z P.M.G. Metsemakers 2 Created page with "{| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan..." {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | link to the part files (when available) |- | style="background:white; color:black;" align="left" | link to the .stp files (when available) |- | style="background:white; color:black;" align="left" | link to the .dxf files (when available) |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. = Robot Summary = Small description of the robot. * Author: Authors name * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] (if available) __TOC__ [[Image:Picture of the robot.jpg|400px|thumb|center|Figure 1:Robot Name]] = Overview = More detailed description of the robot. 179 2011-11-23T13:44:09Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | link to the part files (when available) |- | style="background:white; color:black;" align="left" | link to the .stp files (when available) |- | style="background:white; color:black;" align="left" | link to the .dxf files (when available) |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Robot Summary = Small description of the robot. * Author: Authors name * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] (if available) __TOC__ [[Image:Picture of the robot.jpg|400px|thumb|center|Figure 1:Robot Name]] = Overview = More detailed description of the robot. 180 2011-11-23T13:48:22Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | link to the part files (when available) |- | style="background:white; color:black;" align="left" | link to the .stp files (when available) |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Robot Summary = Small description of the robot. * Author: Authors name * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] (if available) __TOC__ [[Image:Picture of the robot.jpg|400px|thumb|center|Figure 1:Robot Name]] = Overview = More detailed description of the robot. 203 2011-11-24T08:51:17Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | link to the part files (when available) |- | style="background:white; color:black;" align="left" | link to the .stp files (when available) |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Robot Summary = Small description of the robot. * Author: Authors name * Repository: [[Link]] * Software: [[Link]] (if available) __TOC__ [[Image:Picture of the robot.jpg|400px|thumb|center|Figure 1:Robot Name]] = Overview = More detailed description of the robot. 241 2011-11-24T12:29:29Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | link to the part files (when available) |- | style="background:white; color:black;" align="left" | link to the .stp files (when available) |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Robot Summary = Small description of the robot. * Author: Authors name * Repository: [[Link]] * Software: [[Link]] (when available) __TOC__ [[Image:Picture of the robot.jpg|400px|thumb|center|Figure 1:Robot Name]] = Overview = More detailed description of the robot. 242 2011-11-24T12:29:48Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | link to the part files (when available) |- | style="background:white; color:black;" align="left" | link to the .stp files (when available) |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 256 2011-11-24T15:33:21Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | link to the Inventor files (when available) |- | style="background:white; color:black;" align="left" | link to the STEP files (when available) |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 257 2011-11-24T15:33:34Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | link to the Inventor files (when available) |- | style="background:white; color:black;" align="left" | link to the STEP files (when available) |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 264 2011-11-24T15:35:03Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Link to the Inventor files (when available) |- | style="background:white; color:black;" align="left" | Link to the STEP files (when available) |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 273 2011-11-25T12:27:51Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Link to the CAD files (when available) |- | style="background:white; color:black;" align="left" | Link to the STEP files (when available) |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 305 2011-11-29T09:28:35Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Link to the CAD files (when available) |- | style="background:white; color:black;" align="left" | Link to the STEP files (when available) |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 321 2011-11-29T10:01:14Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Link to the CAD files (when available) |- | style="background:white; color:black;" align="left" | Link to the STEP files (when available) |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Additional Chapters = Additional information. 322 2011-11-29T10:03:51Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Link to the CAD files (when available) |- | style="background:white; color:black;" align="left" | Link to the STEP files (when available) |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ [[Image:Picture of the robot.jpg|400px|thumb|center|Figure 1: Robot Name]] = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Additional Chapters = Additional information. 466 2011-12-19T11:59:56Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Link to the CAD files (when available) |- | style="background:white; color:black;" align="left" | Link to the STEP files (when available) |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ [[Image:Picture of the robot.jpg|400px|thumb|center|Figure 1: Robot Name]] = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Specifications = List of specifications. = Additional Chapters = Additional information. 23 103 2011-11-21T13:26:35Z P.M.G. Metsemakers 2 Created page with "{| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan;..." {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | link to the part files (when available) |- | style="background:white; color:black;" align="left" | link to the .stp files (when available) |- | style="background:white; color:black;" align="left" | link to the .dxf files (when available) |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Small description of the part. * Author: Authors name * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] (if available) = Overview = More detailed description of the part. 105 2011-11-21T13:27:13Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | link to the part files (when available) |- | style="background:white; color:black;" align="left" | link to the .stp files (when available) |- | style="background:white; color:black;" align="left" | link to the .dxf files (when available) |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Small description of the part. * Author: Authors name * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] (if available) = Overview = More detailed description of the part. 200 2011-11-24T08:50:32Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | link to the part files (when available) |- | style="background:white; color:black;" align="left" | link to the .stp files (when available) |- | style="background:white; color:black;" align="left" | link to the .dxf files (when available) |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Small description of the part. * Author: Authors name * Repository: [[Link]] * Software: [[Link]] (if available) = Overview = More detailed description of the part. 230 2011-11-24T12:26:48Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | link to the part files (when available) |- | style="background:white; color:black;" align="left" | link to the .stp files (when available) |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Small description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (if available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 235 2011-11-24T12:27:42Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | link to the part files (when available) |- | style="background:white; color:black;" align="left" | link to the .stp files (when available) |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Small description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 238 2011-11-24T12:28:45Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | link to the part files (when available) |- | style="background:white; color:black;" align="left" | link to the .stp files (when available) |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 258 2011-11-24T15:33:51Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | link to the Inventor files (when available) |- | style="background:white; color:black;" align="left" | link to the STEP files (when available) |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 263 2011-11-24T15:34:52Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Link to the Inventor files (when available) |- | style="background:white; color:black;" align="left" | Link to the STEP files (when available) |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 274 2011-11-25T12:29:15Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Link to the CAD program files (when available) |- | style="background:white; color:black;" align="left" | Link to the STEP files (when available) |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 303 2011-11-29T09:27:30Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Link to the CAD program files (when available) |- | style="background:white; color:black;" align="left" | Link to the STEP files (when available) |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 323 2011-11-29T10:42:04Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Link to the CAD program files (when available) |- | style="background:white; color:black;" align="left" | Link to the STEP files (when available) |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. [[Image:Robot Name Figure Name.jpg|500px|thumb|center|Figure 1: Figure that gives a good view of the part.]] = Mechanics = === === Description of the mechanics. = Electronics = Description of the electronics. 324 2011-11-29T10:42:21Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Link to the CAD program files (when available) |- | style="background:white; color:black;" align="left" | Link to the STEP files (when available) |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. [[Image:Robot Name Figure Name.jpg|500px|thumb|center|Figure 1: Figure that gives a good view of the part.]] = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 469 2011-12-19T12:00:51Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Link to the CAD program files (when available) |- | style="background:white; color:black;" align="left" | Link to the STEP files (when available) |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. [[Image:Robot Name Figure Name.jpg|500px|thumb|center|Figure 1: Figure that gives a good view of the part.]] = Specifications = List of specifications. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 24 104 2011-11-21T13:26:39Z P.M.G. Metsemakers 2 Created page with "{| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan;..." {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | link to the part files (when available) |- | style="background:white; color:black;" align="left" | link to the .stp files (when available) |- | style="background:white; color:black;" align="left" | link to the .dxf files (when available) |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Part Summary = Small description of the part. * Author: Authors name * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] (if available) = Overview = More detailed description of the part. 106 2011-11-21T13:27:22Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | link to the part files (when available) |- | style="background:white; color:black;" align="left" | link to the .stp files (when available) |- | style="background:white; color:black;" align="left" | link to the .dxf files (when available) |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Small description of the part. * Author: Authors name * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] (if available) = Overview = More detailed description of the part. 201 2011-11-24T08:50:46Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | link to the part files (when available) |- | style="background:white; color:black;" align="left" | link to the .stp files (when available) |- | style="background:white; color:black;" align="left" | link to the .dxf files (when available) |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Small description of the part. * Author: Authors name * Repository: [[Link]] * Software: [[Link]] (if available) = Overview = More detailed description of the part. 231 2011-11-24T12:26:55Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | link to the part files (when available) |- | style="background:white; color:black;" align="left" | link to the .stp files (when available) |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Small description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (if available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 234 2011-11-24T12:27:31Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | link to the part files (when available) |- | style="background:white; color:black;" align="left" | link to the .stp files (when available) |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Small description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 239 2011-11-24T12:28:59Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | link to the part files (when available) |- | style="background:white; color:black;" align="left" | link to the .stp files (when available) |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 259 2011-11-24T15:34:03Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | link to the Inventor files (when available) |- | style="background:white; color:black;" align="left" | link to the STEP files (when available) |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 261 2011-11-24T15:34:34Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Link to the Inventor files (when available) |- | style="background:white; color:black;" align="left" | Link to the STEP files (when available) |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 275 2011-11-25T12:29:21Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Link to the CAD programfiles (when available) |- | style="background:white; color:black;" align="left" | Link to the STEP files (when available) |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 300 2011-11-28T22:07:13Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightGrey; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightBlue; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightBlue; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Link to the CAD programfiles (when available) |- | style="background:white; color:black;" align="left" | Link to the STEP files (when available) |- | style="background:LightBlue; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 302 2011-11-29T09:27:12Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Link to the CAD programfiles (when available) |- | style="background:white; color:black;" align="left" | Link to the STEP files (when available) |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 304 2011-11-29T09:28:18Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Link to the CAD program files (when available) |- | style="background:white; color:black;" align="left" | Link to the STEP files (when available) |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 325 2011-11-29T10:42:35Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Link to the CAD program files (when available) |- | style="background:white; color:black;" align="left" | Link to the STEP files (when available) |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. [[Image:Robot Name Figure Name.jpg|500px|thumb|center|Figure 1: Figure that gives a good view of the part.]] = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 468 2011-12-19T12:00:38Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Link to the CAD program files (when available) |- | style="background:white; color:black;" align="left" | Link to the STEP files (when available) |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. [[Image:Robot Name Figure Name.jpg|500px|thumb|center|Figure 1: Figure that gives a good view of the part.]] = Specifications = List of specifications. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 25 107 2011-11-21T13:27:30Z P.M.G. Metsemakers 2 Created page with "{| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan;..." {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | link to the part files (when available) |- | style="background:white; color:black;" align="left" | link to the .stp files (when available) |- | style="background:white; color:black;" align="left" | link to the .dxf files (when available) |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Small description of the part. * Author: Authors name * Repository: [[Link]] * Software: [[www.ros.org|www.ros.org]] (if available) = Overview = More detailed description of the part. 202 2011-11-24T08:50:55Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | link to the part files (when available) |- | style="background:white; color:black;" align="left" | link to the .stp files (when available) |- | style="background:white; color:black;" align="left" | link to the .dxf files (when available) |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Small description of the part. * Author: Authors name * Repository: [[Link]] * Software: [[Link]] (if available) = Overview = More detailed description of the part. 232 2011-11-24T12:27:02Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | link to the part files (when available) |- | style="background:white; color:black;" align="left" | link to the .stp files (when available) |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Small description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (if available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 233 2011-11-24T12:27:23Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | link to the part files (when available) |- | style="background:white; color:black;" align="left" | link to the .stp files (when available) |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Small description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 240 2011-11-24T12:29:08Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD files''' |- | style="background:white; color:black;" align="left" | link to the part files (when available) |- | style="background:white; color:black;" align="left" | link to the .stp files (when available) |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 260 2011-11-24T15:34:19Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | link to the Inventor files (when available) |- | style="background:white; color:black;" align="left" | link to the STEP files (when available) |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 262 2011-11-24T15:34:42Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Link to the Inventor files (when available) |- | style="background:white; color:black;" align="left" | Link to the STEP files (when available) |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 276 2011-11-25T12:29:28Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Link to the CAD program files (when available) |- | style="background:white; color:black;" align="left" | Link to the STEP files (when available) |- | style="background:LightCyan; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 301 2011-11-28T22:07:44Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Link to the CAD program files (when available) |- | style="background:white; color:black;" align="left" | Link to the STEP files (when available) |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 326 2011-11-29T10:43:04Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Link to the CAD program files (when available) |- | style="background:white; color:black;" align="left" | Link to the STEP files (when available) |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. [[Image:Robot Name Figure Name.jpg|500px|thumb|center|Figure 1: Figure that gives a good view of the part.]] = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 467 2011-12-19T12:00:24Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | Instance |- | style="background:white; color:black;" align="left" | Author |- | style="background:white; color:black;" align="left" | E-mail |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | Link to the CAD program files (when available) |- | style="background:white; color:black;" align="left" | Link to the STEP files (when available) |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- |} [[Robot Name|Robot Name]]: [[Robot Name Part 1|Part 1]] | [[Robot Name Part 2|Part 2]] | [[Robot Name Part 3|Part 3]] | etc. __TOC__ = Part Summary = Short description of the part. * Author: Authors Name * Liccense: License Name * Repository: [[Link]] * Software: [[Link]] (when available) = Overview = More detailed description of the part. [[Image:Robot Name Figure Name.jpg|500px|thumb|center|Figure 1: Figure that gives a good view of the part.]] = Specifications = List of specifications. = Mechanics = Description of the mechanics. = Electronics = Description of the electronics. 39 297 2011-11-28T13:15:58Z P.M.G. Metsemakers 2 Created page with "This pages links to the templates for a robot page and a part page. Starting from the main page. <br> The important reason for having a style guide is to be consistent. This styl..." This pages links to the templates for a robot page and a part page. Starting from the main page. <br> The important reason for having a style guide is to be consistent. This style guide can't cover every possible thing you may need to write a wiki page about, so just remember to be consistent in your own documentation. = [[Robot Name|'''Robot Name''']] = {|style="width: 100%" | [[Image:Picture of the robot.jpg|200px|thumb|right|Figure 1:Robot Name]] Short description of the robot. * Author: Authors Name * License: License Name * Parts: [[Robot Name Part 1|Part 1]], [[Robot Name Part 2|Part 2]], [[Robot Name Part 3|Part 3]], etc. |} 299 2011-11-28T13:45:30Z P.M.G. Metsemakers 2 The following templates are to be used starting with the addition of a new robot onto the Main Page. = [[Robot Name|'''Robot Name''']] = {|style="width: 100%" | [[Image:Picture of the robot.jpg|200px|thumb|right|Figure 1:Robot Name]] Short description of the robot. * Author: Authors Name * License: License Name * Parts: [[Robot Name Part 1|Part 1]], [[Robot Name Part 2|Part 2]], [[Robot Name Part 3|Part 3]], etc. |} 327 2011-11-29T10:57:00Z P.M.G. Metsemakers 2 The following templates are to be used starting with the addition of a new robot onto the Main Page. = [[Robot Name|'''Robot Name''']] = {|style="width: 100%" | [[Image:Picture of the robot.jpg|200px|thumb|right|Figure 1:Robot Name]] Short description of the robot. * Author: Authors Name * License: License Name * Parts: [[Robot Name Part 1|Part 1]], [[Robot Name Part 2|Part 2]], [[Robot Name Part 3|Part 3]], etc. |} = Tips and Tricks = === Subchapter === Use level 3 headlines for subchapters. <pre> === Subchapter Name === </pre> === Figures === Keep the wiki easy to read. * Don't make pictures unnecessarilly big. * Always center figures to keep it clean. * Provide figures of number and a short description. <pre> [[Image:Robot Name Figure Name.jpg|500px|thumb|center|Figure 1: Figure description]] </pre> [[Image:Robot Name Figure Name.jpg|500px|thumb|center|Figure 1: Figure description]] * Use a table when adding multiple pictures next to each other. <pre> {| style="background: transparent; margin: auto;" | [[Image:Robot Name Figure Name.jpg|450px|thumb|center|Figure 2: Left]] | [[Image:Robot Name Figure Name.jpg|450px|thumb|center|Figure 3: Right]] |} </pre> {| style="background: transparent; margin: auto;" | [[Image:Robot Name Figure Name.jpg|450px|thumb|center|Figure 2: Left]] | [[Image:Robot Name Figure Name.jpg|450px|thumb|center|Figure 3: Right]] |} === Movies === To include a movie from par example Youtube use: <pre> <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|jF--uLxtYlo}}</div> </pre> <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|jF--uLxtYlo}}</div> 328 2011-11-29T11:29:45Z P.M.G. Metsemakers 2 This page contains the templates to be used starting with the addition of a new robot onto the Main Page together with some additional style guides. This style guide can't cover every possible thing you may need to write a wiki page about, so just remember to be consistent in your own documentation. = [[Robot Name|'''Robot Name''']] = {|style="width: 100%" | [[Image:Picture of the robot.jpg|200px|thumb|right|Figure 1:Robot Name]] Short description of the robot. * Author: Authors Name * License: License Name * Parts: [[Robot Name Part 1|Part 1]], [[Robot Name Part 2|Part 2]], [[Robot Name Part 3|Part 3]], etc. |} = Styles = === Subchapter === Use heading-level 3 for subchapters. <pre> === Subchapter Name === </pre> === Naming === Names of a new page or a figure should always start with the robot name. === Figures === Keep the wiki easy to read. * Don't make pictures unnecessarilly big. * Always center figures to keep it clean. * Provide figures of number and a short description. <pre> [[Image:Robot Name Figure Name.jpg|500px|thumb|center|Figure 1: Figure description]] </pre> [[Image:Robot Name Figure Name.jpg|500px|thumb|center|Figure 1: Figure description]] * Use a table when adding multiple pictures next to each other. <pre> {| style="background: transparent; margin: auto;" | [[Image:Robot Name Figure Name.jpg|450px|thumb|center|Figure 2: Left]] | [[Image:Robot Name Figure Name.jpg|450px|thumb|center|Figure 3: Right]] |} </pre> {| style="background: transparent; margin: auto;" | [[Image:Robot Name Figure Name.jpg|450px|thumb|center|Figure 2: Left]] | [[Image:Robot Name Figure Name.jpg|450px|thumb|center|Figure 3: Right]] |} === Movies === To include a movie from par example Youtube use: <pre> <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|jF--uLxtYlo}}</div> </pre> <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|jF--uLxtYlo}}</div> 380 2011-12-01T09:33:08Z P.M.G. Metsemakers 2 /* Figures */ This page contains the templates to be used starting with the addition of a new robot onto the Main Page together with some additional style guides. This style guide can't cover every possible thing you may need to write a wiki page about, so just remember to be consistent in your own documentation. = [[Robot Name|'''Robot Name''']] = {|style="width: 100%" | [[Image:Picture of the robot.jpg|200px|thumb|right|Figure 1:Robot Name]] Short description of the robot. * Author: Authors Name * License: License Name * Parts: [[Robot Name Part 1|Part 1]], [[Robot Name Part 2|Part 2]], [[Robot Name Part 3|Part 3]], etc. |} = Styles = === Subchapter === Use heading-level 3 for subchapters. <pre> === Subchapter Name === </pre> === Naming === Names of a new page or a figure should always start with the robot name. === Figures === Keep the wiki easy to read. * Don't make pictures unnecessarilly big. * Always center figures to keep it clean. * Provide figures of number and a short description. <pre> [[Image:Robot Name Figure Name.jpg|500px|thumb|center|Figure 1: Figure description]] </pre> [[Image:Robot Name Figure Name.jpg|500px|thumb|center|Figure 1: Figure description]] * Use a table when adding multiple pictures next to each other. <pre> {| style="background: transparent; margin: auto;" | [[Image:Robot Name Figure Name.jpg|400px|thumb|center|Figure 2: Left]] | [[Image:Robot Name Figure Name.jpg|400px|thumb|center|Figure 3: Right]] |} </pre> {| style="background: transparent; margin: auto;" | [[Image:Robot Name Figure Name.jpg|400px|thumb|center|Figure 2: Left]] | [[Image:Robot Name Figure Name.jpg|400px|thumb|center|Figure 3: Right]] |} === Movies === To include a movie from par example Youtube use: <pre> <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|jF--uLxtYlo}}</div> </pre> <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|jF--uLxtYlo}}</div> 281 1105 2022-10-12T08:54:54Z Fruitcake 1 Created page with "Swerve drive" Swerve drive 1106 2022-10-12T08:55:39Z Fruitcake 1 Blanked the page 282 1107 2022-10-12T08:56:15Z Fruitcake 1 Created page with "Swerve drive" Swerve drive 109 526 2012-01-27T08:48:41Z P.M.G. Metsemakers 2 Created page with "{| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey..." {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[Coming Soon]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''(Coming Soon)'' * Software: ''(Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. = Specifications = ''(Coming Soon)'' = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|6gavmiOME-s}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 581 2012-09-11T07:34:05Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[Coming Soon]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''(Coming Soon)'' * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a completely different design. However, the TURTLE field players will be discussed first in the following sections. In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. The base <br> 2. The upper body <br> 3. The ball handling and kicking mechanism <br> FIGURE 2 (Coming soon) = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm • Weight: +/- 37 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> • Autonomy: 15 min (active use); 30 min (normal use) <br> == Motor Specifications == '''Drive motors''' <br> • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> '''Ball handling motors''' <br> ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Maxon FP 32 C Planetary gearhead2x Gysin GSR012-1-05-1 gearbox <br> • 2x Maxon Encoder: HEDS 5540 <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon FP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == Industrial Beckhoff PC C6920-0010 == Communication == EtherCAT Beckhoff module == Vision == '''Ominvision''' <br> Prosilica <br> ''Lens'' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) <br> '''Front camera (currently not used)''' <br> Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.5 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|6gavmiOME-s}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 583 2012-09-11T16:53:44Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[Coming Soon]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''(Coming Soon)'' * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a completely different design. However, the TURTLE field players will be discussed first in the following sections. In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. The base <br> 2. The upper body <br> 3. The ball handling and kicking mechanism <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm • Weight: +/- 37 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> • Autonomy: 15 min (active use); 30 min (normal use) <br> == Motor Specifications == '''Drive motors''' <br> • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> '''Ball handling motors''' <br> ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Maxon FP 32 C Planetary gearhead <br> • 2x Gysin GSR012-1-05-1 gearbox <br> • 2x Maxon Encoder: HEDS 5540 <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon FP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == Industrial Beckhoff PC C6920-0010 == Communication == EtherCAT Beckhoff module == Vision == '''Ominvision''' <br> Prosilica <br> ''Lens'' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) <br> '''Front camera (currently not used)''' <br> Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.5 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|6gavmiOME-s}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 589 2012-09-11T18:35:30Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''(Coming Soon)'' * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a completely different design. However, the TURTLE field players will be discussed first in the following sections. In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. The base <br> 2. The upper body <br> 3. The ball handling and kicking mechanism <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm • Weight: +/- 37 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> • Autonomy: 15 min (active use); 30 min (normal use) <br> == Motor Specifications == '''Drive motors''' <br> • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> '''Ball handling motors''' <br> ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Maxon FP 32 C Planetary gearhead <br> • 2x Gysin GSR012-1-05-1 gearbox <br> • 2x Maxon Encoder: HEDS 5540 <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon FP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == Industrial Beckhoff PC C6920-0010 == Communication == EtherCAT Beckhoff module == Vision == '''Ominvision''' <br> Prosilica <br> ''Lens'' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) <br> '''Front camera (currently not used)''' <br> Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.5 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|6gavmiOME-s}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 611 2012-09-11T20:18:59Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''(Coming Soon)'' * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a completely different design. However, the TURTLE field players will be discussed first in the following sections. In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. The base <br> 2. The upper body <br> 3. The ball handling and kicking mechanism <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm • Weight: +/- 37 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> • Autonomy: 15 min (active use); 30 min (normal use) <br> == Motor Specifications == '''Drive motors''' <br> • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> '''Ball handling motors''' <br> ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Maxon FP 32 C Planetary gearhead <br> • 2x Gysin GSR012-1-05-1 gearbox <br> • 2x Maxon Encoder: HEDS 5540 <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon FP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == Industrial Beckhoff PC C6920-0010 == Communication == EtherCAT Beckhoff module == Vision == '''Ominvision''' <br> Prosilica <br> ''Lens'' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) <br> '''Front camera (currently not used)''' <br> Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.5 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|6gavmiOME-s}}</div> = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 613 2012-09-12T09:23:39Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = EVERYTHING IS STILL UNDER CONSTRUCTION, THERE MIGHT STILL BE SOME INCORRECT INFORMAION ON THE SITE = = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''(Coming Soon)'' * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a completely different design. However, the TURTLE field players will be discussed first in the following sections. In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. The base <br> 2. The upper body <br> 3. The ball handling and kicking mechanism <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm • Weight: +/- 37 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> • Autonomy: 15 min (active use); 30 min (normal use) <br> == Motor Specifications == '''Drive motors''' <br> • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> '''Ball handling motors''' <br> ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Maxon FP 32 C Planetary gearhead <br> • 2x Gysin GSR012-1-05-1 gearbox <br> • 2x Maxon Encoder: HEDS 5540 <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon FP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == Industrial Beckhoff PC C6920-0010 == Communication == EtherCAT Beckhoff module == Vision == '''Ominvision''' <br> Prosilica <br> ''Lens'' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) <br> '''Front camera (currently not used)''' <br> Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.5 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|6gavmiOME-s}}</div> = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 614 2012-09-12T09:23:58Z J Bos 45 /* EVERYTHING IS STILL UNDER CONSTRUCTION, THERE MIGHT STILL BE SOME INCORRECT INFORMAION ON THE SITE */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = EVERYTHING IS STILL UNDER CONSTRUCTION, THERE MIGHT STILL BE SOME INCORRECT INFORMATION ON THE SITE = = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''(Coming Soon)'' * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a completely different design. However, the TURTLE field players will be discussed first in the following sections. In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. The base <br> 2. The upper body <br> 3. The ball handling and kicking mechanism <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm • Weight: +/- 37 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> • Autonomy: 15 min (active use); 30 min (normal use) <br> == Motor Specifications == '''Drive motors''' <br> • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> '''Ball handling motors''' <br> ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Maxon FP 32 C Planetary gearhead <br> • 2x Gysin GSR012-1-05-1 gearbox <br> • 2x Maxon Encoder: HEDS 5540 <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon FP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == Industrial Beckhoff PC C6920-0010 == Communication == EtherCAT Beckhoff module == Vision == '''Ominvision''' <br> Prosilica <br> ''Lens'' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) <br> '''Front camera (currently not used)''' <br> Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.5 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|6gavmiOME-s}}</div> = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 615 2012-09-12T09:25:02Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = EVERYTHING IS STILL UNDER CONSTRUCTION, THERE MIGHT STILL BE SOME INCORRECT INFORMATION ON THE SITE = = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''(Coming Soon)'' * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a completely different design. However, the TURTLE field players will be discussed first in the following sections. In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm • Weight: +/- 37 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> • Autonomy: 15 min (active use); 30 min (normal use) <br> == Motor Specifications == '''Drive motors''' <br> • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> '''Ball handling motors''' <br> ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Maxon FP 32 C Planetary gearhead <br> • 2x Gysin GSR012-1-05-1 gearbox <br> • 2x Maxon Encoder: HEDS 5540 <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon FP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == Industrial Beckhoff PC C6920-0010 == Communication == EtherCAT Beckhoff module == Vision == '''Ominvision''' <br> Prosilica <br> ''Lens'' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) <br> '''Front camera (currently not used)''' <br> Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.5 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|6gavmiOME-s}}</div> = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 621 2012-09-18T18:44:54Z J Bos 45 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = EVERYTHING IS STILL UNDER CONSTRUCTION, THERE MIGHT STILL BE SOME INCORRECT INFORMATION ON THE SITE = = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''(Coming Soon)'' * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor adjustments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm • Weight: +/- 37 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> • Autonomy: 15 min (active use); 30 min (normal use) <br> == Motor Specifications == '''Drive motors''' <br> • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> '''Ball handling motors''' <br> ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Maxon FP 32 C Planetary gearhead <br> • 2x Gysin GSR012-1-05-1 gearbox <br> • 2x Maxon Encoder: HEDS 5540 <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon FP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == Industrial Beckhoff PC C6920-0010 == Communication == EtherCAT Beckhoff module == Vision == '''Ominvision''' <br> Prosilica <br> ''Lens'' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) <br> '''Front camera (currently not used)''' <br> Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.5 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|6gavmiOME-s}}</div> = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 622 2012-09-18T18:45:44Z J Bos 45 /* Construction */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = EVERYTHING IS STILL UNDER CONSTRUCTION, THERE MIGHT STILL BE SOME INCORRECT INFORMATION ON THE SITE = = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''(Coming Soon)'' * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor adjustments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 37 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> • Autonomy: 15 min (active use); 30 min (normal use) <br> == Motor Specifications == '''Drive motors''' <br> • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> '''Ball handling motors''' <br> ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Maxon FP 32 C Planetary gearhead <br> • 2x Gysin GSR012-1-05-1 gearbox <br> • 2x Maxon Encoder: HEDS 5540 <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon FP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == Industrial Beckhoff PC C6920-0010 == Communication == EtherCAT Beckhoff module == Vision == '''Ominvision''' <br> Prosilica <br> ''Lens'' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) <br> '''Front camera (currently not used)''' <br> Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.5 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|6gavmiOME-s}}</div> = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 623 2012-09-18T18:46:32Z J Bos 45 /* Motor Specifications */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = EVERYTHING IS STILL UNDER CONSTRUCTION, THERE MIGHT STILL BE SOME INCORRECT INFORMATION ON THE SITE = = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''(Coming Soon)'' * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor adjustments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 37 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> • Autonomy: 15 min (active use); 30 min (normal use) <br> == Motor Specifications == '''Drive motors''' <br> • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> '''Ball handling motors''' <br> ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Maxon FP 32 C Planetary gearhead <br> • 2x Gysin GSR012-1-05-1 %:1 gearbox <br> • 2x Maxon Encoder: HEDS 5540 <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon FP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == Industrial Beckhoff PC C6920-0010 == Communication == EtherCAT Beckhoff module == Vision == '''Ominvision''' <br> Prosilica <br> ''Lens'' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) <br> '''Front camera (currently not used)''' <br> Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.5 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|6gavmiOME-s}}</div> = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 624 2012-09-18T18:49:21Z J Bos 45 /* Vision */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = EVERYTHING IS STILL UNDER CONSTRUCTION, THERE MIGHT STILL BE SOME INCORRECT INFORMATION ON THE SITE = = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''(Coming Soon)'' * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor adjustments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 37 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> • Autonomy: 15 min (active use); 30 min (normal use) <br> == Motor Specifications == '''Drive motors''' <br> • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> '''Ball handling motors''' <br> ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Maxon FP 32 C Planetary gearhead <br> • 2x Gysin GSR012-1-05-1 %:1 gearbox <br> • 2x Maxon Encoder: HEDS 5540 <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon FP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == Industrial Beckhoff PC C6920-0010 == Communication == EtherCAT Beckhoff module == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) ===Front camera (currently not used) === <br> Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.5 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|6gavmiOME-s}}</div> = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 625 2012-09-18T18:50:38Z J Bos 45 /* Motor Specifications */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = EVERYTHING IS STILL UNDER CONSTRUCTION, THERE MIGHT STILL BE SOME INCORRECT INFORMATION ON THE SITE = = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''(Coming Soon)'' * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor adjustments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 37 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> • Autonomy: 15 min (active use); 30 min (normal use) <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Maxon FP 32 C Planetary gearhead <br> • 2x Gysin GSR012-1-05-1 %:1 gearbox <br> • 2x Maxon Encoder: HEDS 5540 <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon FP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == Industrial Beckhoff PC C6920-0010 == Communication == EtherCAT Beckhoff module == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) ===Front camera (currently not used) === <br> Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.5 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|6gavmiOME-s}}</div> = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 634 2012-09-18T19:30:35Z J Bos 45 /* Computer */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = EVERYTHING IS STILL UNDER CONSTRUCTION, THERE MIGHT STILL BE SOME INCORRECT INFORMATION ON THE SITE = = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''(Coming Soon)'' * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor adjustments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 37 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> • Autonomy: 15 min (active use); 30 min (normal use) <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Maxon FP 32 C Planetary gearhead <br> • 2x Gysin GSR012-1-05-1 %:1 gearbox <br> • 2x Maxon Encoder: HEDS 5540 <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon FP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 1 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> hard disk, 2½-inch, 80 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == EtherCAT Beckhoff module == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) ===Front camera (currently not used) === <br> Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.5 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|6gavmiOME-s}}</div> = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 637 2012-09-18T19:32:12Z J Bos 45 /* License */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = EVERYTHING IS STILL UNDER CONSTRUCTION, THERE MIGHT STILL BE SOME INCORRECT INFORMATION ON THE SITE = = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''(Coming Soon)'' * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor adjustments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 37 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> • Autonomy: 15 min (active use); 30 min (normal use) <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Maxon FP 32 C Planetary gearhead <br> • 2x Gysin GSR012-1-05-1 %:1 gearbox <br> • 2x Maxon Encoder: HEDS 5540 <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon FP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 1 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> hard disk, 2½-inch, 80 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == EtherCAT Beckhoff module == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) ===Front camera (currently not used) === <br> Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.5 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|6gavmiOME-s}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 661 2012-09-24T18:40:29Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = EVERYTHING IS STILL UNDER CONSTRUCTION, THERE MIGHT STILL BE SOME INCORRECT INFORMATION ON THE SITE = = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''(Coming Soon)'' * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Maxon FP 32 C Planetary gearhead <br> • 2x Gysin GSR012-1-05-1 5:1 gearbox <br> • 2x Maxon Encoder: HEDS 5540 <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon FP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 1 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> hard disk, 2½-inch, 80 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == EtherCAT Beckhoff module == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) ===Front camera (currently not used) === <br> Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 664 2012-09-24T18:48:58Z J Bos 45 /* Computer */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = EVERYTHING IS STILL UNDER CONSTRUCTION, THERE MIGHT STILL BE SOME INCORRECT INFORMATION ON THE SITE = = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''(Coming Soon)'' * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Maxon FP 32 C Planetary gearhead <br> • 2x Gysin GSR012-1-05-1 5:1 gearbox <br> • 2x Maxon Encoder: HEDS 5540 <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon FP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == EtherCAT Beckhoff module == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) ===Front camera (currently not used) === <br> Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 666 2012-09-24T18:51:55Z J Bos 45 /* Ball handling motors */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = EVERYTHING IS STILL UNDER CONSTRUCTION, THERE MIGHT STILL BE SOME INCORRECT INFORMATION ON THE SITE = = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''(Coming Soon)'' * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Maxon GP 32 C Planetary gearhead <br> • 2x Gysin GSR012-1-05-1 5:1 gearbox <br> • 2x Maxon Encoder: HEDS 5540 <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == EtherCAT Beckhoff module == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) ===Front camera (currently not used) === <br> Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 683 2012-09-26T12:46:30Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''(Coming Soon)'' * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Maxon GP 32 C Planetary gearhead <br> • 2x Gysin GSR012-1-05-1 5:1 gearbox <br> • 2x Maxon Encoder: HEDS 5540 <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) ===Front camera (currently not used) === <br> Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 684 2012-09-26T12:51:55Z J Bos 45 /* Vision */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''(Coming Soon)'' * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Maxon GP 32 C Planetary gearhead <br> • 2x Gysin GSR012-1-05-1 5:1 gearbox <br> • 2x Maxon Encoder: HEDS 5540 <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === <br> Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 685 2012-09-26T12:52:20Z J Bos 45 /* Vision */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''(Coming Soon)'' * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Maxon GP 32 C Planetary gearhead <br> • 2x Gysin GSR012-1-05-1 5:1 gearbox <br> • 2x Maxon Encoder: HEDS 5540 <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 690 2012-10-01T20:33:40Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''(Coming Soon)'' * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Maxon GP 32 C Planetary gearhead <br> • 2x Gysin GSR012-1-05-1 5:1 gearbox <br> • 2x Maxon Encoder: HEDS 5540 <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 691 2012-10-01T20:35:28Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''(Coming Soon)'' * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Maxon GP 32 C Planetary gearhead <br> • 2x Gysin GSR012-1-05-1 5:1 gearbox <br> • 2x Maxon Encoder: HEDS 5540 <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 697 2012-10-09T16:43:08Z J Bos 45 /* Ball handling motors */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''(Coming Soon)'' * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 716 2013-02-14T20:29:35Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://rop.wtb.tue.nl/svn/rop/TURTLE https://rop.wtb.tue.nl/svn/rop/TURTLE] * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 722 2013-02-18T12:53:08Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 726 2013-02-20T09:44:19Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 736 2013-02-26T08:40:28Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: ''Coming Soon'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 741 2013-02-27T11:04:38Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: ''Coming Soon'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 742 2013-02-27T11:05:12Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ Electrical Drawings] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: ''Coming Soon'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 743 2013-02-27T11:35:20Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: ''Coming Soon'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 768 2013-12-31T11:05:39Z Tmhafkamp 53 /* Communication */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: ''Coming Soon'' [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> '''WLAN''' <br> Intel PRO/Wireless 2915ABG Mini-PCI Adapter == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 789 2014-02-03T13:55:56Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> '''WLAN''' <br> Intel PRO/Wireless 2915ABG Mini-PCI Adapter == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 790 2014-02-03T13:57:31Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> '''WLAN''' <br> Intel PRO/Wireless 2915ABG Mini-PCI Adapter == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 794 2014-02-03T15:41:10Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> '''WLAN''' <br> Intel PRO/Wireless 2915ABG Mini-PCI Adapter == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 803 2014-02-03T15:45:13Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> '''WLAN''' <br> Intel PRO/Wireless 2915ABG Mini-PCI Adapter == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 863 2014-04-01T19:46:58Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/ Step] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> '''WLAN''' <br> Intel PRO/Wireless 2915ABG Mini-PCI Adapter == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 864 2014-04-01T19:47:55Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/ Step] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> '''WLAN''' <br> Intel PRO/Wireless 2915ABG Mini-PCI Adapter == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 938 2014-07-09T10:06:47Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> '''WLAN''' <br> Intel PRO/Wireless 2915ABG Mini-PCI Adapter == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 968 2014-07-21T12:30:58Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> '''WLAN''' <br> Intel PRO/Wireless 2915ABG Mini-PCI Adapter == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 983 2014-07-21T13:41:53Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> '''WLAN''' <br> Intel PRO/Wireless 2915ABG Mini-PCI Adapter == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 989 2014-07-21T13:47:41Z Tmhafkamp 53 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the [[TURTLE Goalkeeper|keeper]] has a different design. However, the TURTLE field players can be used as a [[TURTLE Goalkeeper|keeper]] with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> '''WLAN''' <br> Intel PRO/Wireless 2915ABG Mini-PCI Adapter == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1001 2014-07-30T11:36:30Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/7c5ae282051947d7bbf5a7cfd323d832/embed |width=640 |height=480 |border=0 }}</center> = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the [[TURTLE Goalkeeper|keeper]] has a different design. However, the TURTLE field players can be used as a [[TURTLE Goalkeeper|keeper]] with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> '''WLAN''' <br> Intel PRO/Wireless 2915ABG Mini-PCI Adapter == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1009 2014-09-04T09:11:18Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Bill Of Materials''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Bill%20Of%20Materials/ Excel Spreadsheet] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/7c5ae282051947d7bbf5a7cfd323d832/embed |width=640 |height=480 |border=0 }}</center> = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the [[TURTLE Goalkeeper|keeper]] has a different design. However, the TURTLE field players can be used as a [[TURTLE Goalkeeper|keeper]] with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> '''WLAN''' <br> Intel PRO/Wireless 2915ABG Mini-PCI Adapter == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1010 2014-09-04T09:11:34Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Bill Of Materials''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Bill%20Of%20Materials/ Excel Spreadsheet] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/7c5ae282051947d7bbf5a7cfd323d832/embed |width=640 |height=480 |border=0 }}</center> = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the [[TURTLE Goalkeeper|keeper]] has a different design. However, the TURTLE field players can be used as a [[TURTLE Goalkeeper|keeper]] with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> '''WLAN''' <br> Intel PRO/Wireless 2915ABG Mini-PCI Adapter == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1034 2020-03-25T07:27:43Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Bill Of Materials''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Bill%20Of%20Materials/ Excel Spreadsheet] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/7c5ae282051947d7bbf5a7cfd323d832/embed |width=640 |height=480 |border=0 }}</center> = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the [[TURTLE Goalkeeper|keeper]] has a different design. However, the TURTLE field players can be used as a [[TURTLE Goalkeeper|keeper]] with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> '''WLAN''' <br> Intel PRO/Wireless 2915ABG Mini-PCI Adapter == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1045 2020-03-25T07:39:50Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Bill Of Materials''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Bill%20Of%20Materials/ Excel Spreadsheet] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [https://msl.robocup.org/ RoboCup Middle Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/7c5ae282051947d7bbf5a7cfd323d832/embed |width=640 |height=480 |border=0 }}</center> = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the [[TURTLE Goalkeeper|keeper]] has a different design. However, the TURTLE field players can be used as a [[TURTLE Goalkeeper|keeper]] with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> '''WLAN''' <br> Intel PRO/Wireless 2915ABG Mini-PCI Adapter == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1047 2020-03-25T08:38:06Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Bill Of Materials''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Bill%20Of%20Materials/ Excel Spreadsheet] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [https://msl.robocup.org/ RoboCup Middle Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] The structure of the software is explained using MATLAB Simulink flow charts, which can be found by clicking on the links below (opening in Internet Explorer requires a seperate plugin). <div class="center"> [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]</div> [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/7c5ae282051947d7bbf5a7cfd323d832/embed |width=640 |height=480 |border=0 }}</center> = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the [[TURTLE Goalkeeper|keeper]] has a different design. However, the TURTLE field players can be used as a [[TURTLE Goalkeeper|keeper]] with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> '''WLAN''' <br> Intel PRO/Wireless 2915ABG Mini-PCI Adapter == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1057 2020-03-25T13:44:07Z Whoutman 74 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Bill Of Materials''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Bill%20Of%20Materials/ Excel Spreadsheet] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [https://msl.robocup.org/ RoboCup Middle Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] The structure of the software is explained using MATLAB Simulink flow charts, which can be found by clicking on the links below (opening in Internet Explorer requires a seperate plugin): <div class="center" style="width:800;"> [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] </div> [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/7c5ae282051947d7bbf5a7cfd323d832/embed |width=640 |height=480 |border=0 }}</center> = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the [[TURTLE Goalkeeper|keeper]] has a different design. However, the TURTLE field players can be used as a [[TURTLE Goalkeeper|keeper]] with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> '''WLAN''' <br> Intel PRO/Wireless 2915ABG Mini-PCI Adapter == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1060 2020-03-25T13:51:15Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Bill Of Materials''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Bill%20Of%20Materials/ Excel Spreadsheet] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [https://msl.robocup.org/ RoboCup Middle Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] The structure of the software is explained using MATLAB Simulink flow charts, which can be found by clicking on the links below (opening in Internet Explorer requires a seperate plugin): <div class="center" style="width:800;"> [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] </div> [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/7c5ae282051947d7bbf5a7cfd323d832/embed |width=640 |height=480 |border=0 }}</center> = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the [[TURTLE Goalkeeper|keeper]] has a different design. However, the TURTLE field players can be used as a [[TURTLE Goalkeeper|keeper]] with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> '''WLAN''' <br> Intel PRO/Wireless 2915ABG Mini-PCI Adapter == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1099 2022-08-11T12:40:53Z Fruitcake 1 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Bill Of Materials''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE/Bill%20Of%20Materials/ Excel Spreadsheet] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE/Electrical%20Designs/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/Turtle3 Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [https://msl.robocup.org/ RoboCup Middle Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE] * Software: [https://gitlab.tue.nl/tech-united-eindhoven/Turtle3 https://gitlab.tue.nl/tech-united-eindhoven/Turtle3] The structure of the software is explained using MATLAB Simulink flow charts, which can be found by clicking on the links below (opening in Internet Explorer requires a seperate plugin): <div class="center" style="width:800;"> [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] </div> [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/7c5ae282051947d7bbf5a7cfd323d832/embed |width=640 |height=480 |border=0 }}</center> = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the [[TURTLE Goalkeeper|keeper]] has a different design. However, the TURTLE field players can be used as a [[TURTLE Goalkeeper|keeper]] with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = Specifications = == Construction == • Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> • Weight: +/- 30 kg == Electrical == 2 times Makita Ni-MH (BH2433) batteries <br> • Type: Ni-MH <br> • Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> • Weight: 1,473 kg (one battery) <br> • Capacity: 3.3 Ah <br> • Voltage: 24 V <br> == Motor Specifications == ===Drive motors === • 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br> • 3x Maxon Planetary gearhead GP 42 C 12:1 <br> • 3x Maxon Encoder: HEDS 5540 <br> === Ball handling motors === ''Ball receivers'' <br> • 2x Maxon RE 25 24 V 20 W <br> • 2x Gysin GSR012-1-05-1 5:1 wormbox <br> • 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br> <br> ''Ball kicking hinge'' <br> • 1x Maxon RE 25 24 V 18 W <br> • 1x Maxon GP 32 C Planetary gearhead <br> • 1x Maxon Encoder: HEDS 5540 <br> == Amplifiers == ''Drive amplifiers'' <br> 3x Elmec Violin 25/60 Amplifiers <br> ''Ball handling and kicking mechanism'' <br> 3x Elmec Violin 5/60 Amplifiers <br> == Computer == '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> == Communication == '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> '''WLAN''' <br> Intel PRO/Wireless 2915ABG Mini-PCI Adapter == Vision == === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used) === Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> == Laser Range Finder (Currently not used on the field players)== '''Hokuyo UTM-30LX''' <br> • Power: source 12V +/- 10% <br> • Current: consumption 0.7A (max. 1.0 A) <br> • Detection range: 0.1 to approx. 60m (<30m guaranteed) <br> • Laser wavelength: 870 nm, Class 1 <br> • Scan angle: 270 degrees <br> • Scan time: 0.025 s/scan (40.0 Hz) <br> • Angular resolution: 0.25 degrees <br> • Interface: USB 2.0 with trigger port <br> • Weight: 0.233 kg <br> • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> == Capacitor for Kicker Solenoid == 450 V; 4700 µF == Software == • Linux (Ubuntu 8.10) == Degrees of Freedom == Omni Directional Base <br> • Omniwheels: 3 driven <br> • Speed: 3.6 m/s in each direction <br> = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 177 735 2013-02-26T08:39:32Z P.M.G. Metsemakers 2 Created page with "{| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey..." {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5K]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5K is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' [[Image:TURTLE-5K_POSTER.jpg|700px|thumb|center|Figure 1: TURTLE-5K introduction poster]] 738 2013-02-26T08:42:06Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5K]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5K is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' [[Image:TURTLE-5K_POSTER.jpg|1000px|thumb|center|Figure 1: TURTLE-5K introduction poster]] 739 2013-02-26T08:42:35Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5K]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5K is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5K introduction poster]] 740 2013-02-26T13:40:37Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5K]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5K is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5K introduction poster]] 753 2013-03-26T14:00:01Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 770 2013-12-31T14:02:35Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 807 2014-02-03T15:46:17Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 810 2014-03-13T19:15:34Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 878 2014-07-09T08:08:54Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 879 2014-07-09T08:09:22Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} [[Image:TURTLE-5K_POSTER.jpg|300px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 880 2014-07-09T08:09:48Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 881 2014-07-09T08:10:29Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 882 2014-07-09T08:11:25Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 883 2014-07-09T08:13:05Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 6: TURTLE-5k]] = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 884 2014-07-09T08:21:39Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k / Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print / Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 6: TURTLE-5k]] = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 885 2014-07-09T08:22:02Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 6: TURTLE-5k]] = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 886 2014-07-09T08:22:18Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 6: TURTLE-5k]] = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 887 2014-07-09T08:37:28Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 6: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 889 2014-07-09T08:56:08Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 6: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = [[Image:TURTLE-5K_POSTER.jpg|200px|thumb|center|Figure 1: TURTLE-5k introduction poster]] = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 890 2014-07-09T08:59:03Z Tmhafkamp 53 /* Poster */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 6: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = [[Image:TURTLE-5K_POSTER.jpg|200px|thumb|center|Figure 1: TURTLE-5k introduction poster]] = Poster = [[Image:TURTLE-5K_POSTER.jpg|200px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 891 2014-07-09T08:59:11Z Tmhafkamp 53 /* Poster */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 6: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = [[Image:TURTLE-5K_POSTER.jpg|200px|thumb|center|Figure 1: TURTLE-5k introduction poster]] = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 892 2014-07-09T09:14:08Z Tmhafkamp 53 /* Assembled TURTLE-5K Pictures */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 6: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = [[Image:TURTLE-5K 1.jpg|200px|thumb|center|Figure 1: TURTLE-5k PCB]] = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 894 2014-07-09T09:17:59Z Tmhafkamp 53 /* Assembled TURTLE-5K Pictures */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 6: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = [[Image:TURTLE-5K 1.jpg|200px|thumb|center|Figure 1: PCB]] = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 895 2014-07-09T09:20:37Z Tmhafkamp 53 /* Assembled TURTLE-5K Pictures */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 6: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|200px|thumb|center|Figure 1: PCB]] | [[Image:TURTLE-5K_2.jpg|200px|thumb|center|Figure 1: PCB]] | [[Image:TURTLE-5K_3.jpg|200px|thumb|center|Figure 1: PCB]] | [[Image:TURTLE-5K_4.jpg|200px|thumb|center|Figure 1: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|200px|thumb|center|Figure 1: PCB]] | [[Image:TURTLE-5K_6.jpg|200px|thumb|center|Figure 1: PCB]] | [[Image:TURTLE-5K_7.jpg|200px|thumb|center|Figure 1: PCB]] | [[Image:TURTLE-5K_8.jpg|200px|thumb|center|Figure 1: PCB]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 897 2014-07-09T09:23:05Z Tmhafkamp 53 /* Assembled TURTLE-5K Pictures */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 6: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|200px|thumb|center|Figure 1: PCB]] | [[Image:TURTLE-5K_3.jpg|200px|thumb|center|Figure 1: PCB]] | [[Image:TURTLE-5K_4.jpg|200px|thumb|center|Figure 1: PCB]] | [[Image:TURTLE-5K_8.jpg|200px|thumb|center|Figure 1: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|200px|thumb|center|Figure 1: PCB]] | [[Image:TURTLE-5K_6.jpg|200px|thumb|center|Figure 1: PCB]] | [[Image:TURTLE-5K_7.jpg|200px|thumb|center|Figure 1: PCB]] | [[Image:TURTLE-5K_2.jpg|200px|thumb|center|Figure 1: PCB]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 898 2014-07-09T09:23:38Z Tmhafkamp 53 /* Assembled TURTLE-5K Pictures */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 6: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|200px|thumb|center|Figure 1: PCB]] | [[Image:TURTLE-5K_3.jpg|200px|thumb|center|Figure 2: PCB]] | [[Image:TURTLE-5K_4.jpg|200px|thumb|center|Figure 3: PCB]] | [[Image:TURTLE-5K_8.jpg|200px|thumb|center|Figure 4: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_6.jpg|200px|thumb|center|Figure 6: PCB]] | [[Image:TURTLE-5K_7.jpg|200px|thumb|center|Figure 7: PCB]] | [[Image:TURTLE-5K_2.jpg|200px|thumb|center|Figure 8: PCB]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 905 2014-07-09T09:27:29Z Tmhafkamp 53 /* Assembled TURTLE-5K Pictures */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 6: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|200px|thumb|center|Figure 1: PCB]] | [[Image:TURTLE-5K_3.jpg|200px|thumb|center|Figure 2: PCB]] | [[Image:TURTLE-5K_4.jpg|200px|thumb|center|Figure 3: PCB]] | [[Image:TURTLE-5K_8.jpg|200px|thumb|center|Figure 4: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_6.jpg|200px|thumb|center|Figure 6: PCB]] | [[Image:TURTLE-5K_7.jpg|200px|thumb|center|Figure 7: PCB]] | [[Image:TURTLE-5K_2.jpg|200px|thumb|center|Figure 8: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_10.jpg|200px|thumb|center|Figure 6: PCB]] | [[Image:TURTLE-5K_11.jpg|200px|thumb|center|Figure 7: PCB]] | [[Image:TURTLE-5K_12.jpg|200px|thumb|center|Figure 8: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_14.jpg|200px|thumb|center|Figure 6: PCB]] | [[Image:TURTLE-5K_15.jpg|200px|thumb|center|Figure 7: PCB]] | [[Image:TURTLE-5K_16.jpg|200px|thumb|center|Figure 8: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_17.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_18.jpg|200px|thumb|center|Figure 6: PCB]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 916 2014-07-09T09:31:22Z Tmhafkamp 53 /* Assembled TURTLE-5K Pictures */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 6: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|200px|thumb|center|Figure 1: PCB]] | [[Image:TURTLE-5K_3.jpg|200px|thumb|center|Figure 2: PCB]] | [[Image:TURTLE-5K_4.jpg|200px|thumb|center|Figure 3: PCB]] | [[Image:TURTLE-5K_8.jpg|200px|thumb|center|Figure 4: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_6.jpg|200px|thumb|center|Figure 6: PCB]] | [[Image:TURTLE-5K_7.jpg|200px|thumb|center|Figure 7: PCB]] | [[Image:TURTLE-5K_2.jpg|200px|thumb|center|Figure 8: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_10.jpg|200px|thumb|center|Figure 6: PCB]] | [[Image:TURTLE-5K_11.jpg|200px|thumb|center|Figure 7: PCB]] | [[Image:TURTLE-5K_12.jpg|200px|thumb|center|Figure 8: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_14.jpg|200px|thumb|center|Figure 6: PCB]] | [[Image:TURTLE-5K_15.jpg|200px|thumb|center|Figure 7: PCB]] | [[Image:TURTLE-5K_16.jpg|200px|thumb|center|Figure 8: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_17.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_18.jpg|200px|thumb|center|Figure 6: PCB]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 917 2014-07-09T09:32:03Z Tmhafkamp 53 /* Assembled TURTLE-5K Pictures */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 6: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|200px|thumb|center|Figure 1: PCB]] | [[Image:TURTLE-5K_3.jpg|200px|thumb|center|Figure 2: PCB]] | [[Image:TURTLE-5K_4.jpg|200px|thumb|center|Figure 3: PCB]] | [[Image:TURTLE-5K_8.jpg|200px|thumb|center|Figure 4: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_6.jpg|200px|thumb|center|Figure 6: PCB]] | [[Image:TURTLE-5K_7.jpg|200px|thumb|center|Figure 7: PCB]] | [[Image:TURTLE-5K_14.jpg|200px|thumb|center|Figure 6: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_10.jpg|200px|thumb|center|Figure 6: PCB]] | [[Image:TURTLE-5K_11.jpg|200px|thumb|center|Figure 7: PCB]] | [[Image:TURTLE-5K_12.jpg|200px|thumb|center|Figure 8: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_2.jpg|200px|thumb|center|Figure 8: PCB]] | [[Image:TURTLE-5K_15.jpg|200px|thumb|center|Figure 7: PCB]] | [[Image:TURTLE-5K_16.jpg|200px|thumb|center|Figure 8: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_17.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_18.jpg|200px|thumb|center|Figure 6: PCB]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 918 2014-07-09T09:33:51Z Tmhafkamp 53 /* Assembled TURTLE-5K Pictures */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 6: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|200px|thumb|center|Figure 1: PCB]] | [[Image:TURTLE-5K_3.jpg|200px|thumb|center|Figure 2: PCB]] | [[Image:TURTLE-5K_4.jpg|200px|thumb|center|Figure 3: PCB]] | [[Image:TURTLE-5K_8.jpg|200px|thumb|center|Figure 4: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_6.jpg|200px|thumb|center|Figure 6: PCB]] | [[Image:TURTLE-5K_7.jpg|200px|thumb|center|Figure 7: PCB]] | [[Image:TURTLE-5K_14.jpg|200px|thumb|center|Figure 6: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_18.jpg|200px|thumb|center|Figure 6: PCB]] | [[Image:TURTLE-5K_17.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_10.jpg|200px|thumb|center|Figure 6: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_2.jpg|200px|thumb|center|Figure 8: PCB]] | [[Image:TURTLE-5K_15.jpg|200px|thumb|center|Figure 7: PCB]] | [[Image:TURTLE-5K_11.jpg|200px|thumb|center|Figure 7: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|200px|thumb|center|Figure 8: PCB]] | [[Image:TURTLE-5K_12.jpg|200px|thumb|center|Figure 8: PCB]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 919 2014-07-09T09:34:22Z Tmhafkamp 53 /* Assembled TURTLE-5K Pictures */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 6: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_6.jpg|200px|thumb|center|Figure 6: PCB]] | [[Image:TURTLE-5K_7.jpg|200px|thumb|center|Figure 7: PCB]] | [[Image:TURTLE-5K_14.jpg|200px|thumb|center|Figure 6: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_18.jpg|200px|thumb|center|Figure 6: PCB]] | [[Image:TURTLE-5K_17.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_10.jpg|200px|thumb|center|Figure 6: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_2.jpg|200px|thumb|center|Figure 8: PCB]] | [[Image:TURTLE-5K_15.jpg|200px|thumb|center|Figure 7: PCB]] | [[Image:TURTLE-5K_11.jpg|200px|thumb|center|Figure 7: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|200px|thumb|center|Figure 1: PCB]] | [[Image:TURTLE-5K_3.jpg|200px|thumb|center|Figure 2: PCB]] | [[Image:TURTLE-5K_4.jpg|200px|thumb|center|Figure 3: PCB]] | [[Image:TURTLE-5K_8.jpg|200px|thumb|center|Figure 4: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|200px|thumb|center|Figure 8: PCB]] | [[Image:TURTLE-5K_12.jpg|200px|thumb|center|Figure 8: PCB]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 920 2014-07-09T09:35:04Z Tmhafkamp 53 /* Assembled TURTLE-5K Pictures */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 6: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_6.jpg|200px|thumb|center|Figure 6: PCB]] | [[Image:TURTLE-5K_7.jpg|200px|thumb|center|Figure 7: PCB]] | [[Image:TURTLE-5K_14.jpg|200px|thumb|center|Figure 6: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_17.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_18.jpg|200px|thumb|center|Figure 6: PCB]] | [[Image:TURTLE-5K_10.jpg|200px|thumb|center|Figure 6: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_15.jpg|200px|thumb|center|Figure 7: PCB]] | [[Image:TURTLE-5K_11.jpg|200px|thumb|center|Figure 7: PCB]] | [[Image:TURTLE-5K_2.jpg|200px|thumb|center|Figure 8: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|200px|thumb|center|Figure 1: PCB]] | [[Image:TURTLE-5K_3.jpg|200px|thumb|center|Figure 2: PCB]] | [[Image:TURTLE-5K_4.jpg|200px|thumb|center|Figure 3: PCB]] | [[Image:TURTLE-5K_8.jpg|200px|thumb|center|Figure 4: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|200px|thumb|center|Figure 8: PCB]] | [[Image:TURTLE-5K_12.jpg|200px|thumb|center|Figure 8: PCB]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 921 2014-07-09T09:35:25Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_6.jpg|200px|thumb|center|Figure 6: PCB]] | [[Image:TURTLE-5K_7.jpg|200px|thumb|center|Figure 7: PCB]] | [[Image:TURTLE-5K_14.jpg|200px|thumb|center|Figure 6: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_17.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_18.jpg|200px|thumb|center|Figure 6: PCB]] | [[Image:TURTLE-5K_10.jpg|200px|thumb|center|Figure 6: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_15.jpg|200px|thumb|center|Figure 7: PCB]] | [[Image:TURTLE-5K_11.jpg|200px|thumb|center|Figure 7: PCB]] | [[Image:TURTLE-5K_2.jpg|200px|thumb|center|Figure 8: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|200px|thumb|center|Figure 1: PCB]] | [[Image:TURTLE-5K_3.jpg|200px|thumb|center|Figure 2: PCB]] | [[Image:TURTLE-5K_4.jpg|200px|thumb|center|Figure 3: PCB]] | [[Image:TURTLE-5K_8.jpg|200px|thumb|center|Figure 4: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|200px|thumb|center|Figure 8: PCB]] | [[Image:TURTLE-5K_12.jpg|200px|thumb|center|Figure 8: PCB]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 922 2014-07-09T09:37:51Z Tmhafkamp 53 /* Assembled TURTLE-5K Pictures */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|200px|thumb|center|Figure 2: Rear-right]] | [[Image:TURTLE-5K_6.jpg|200px|thumb|center|Figure 3: Rear-left]] | [[Image:TURTLE-5K_7.jpg|200px|thumb|center|Figure 4: Front-left ]] | [[Image:TURTLE-5K_14.jpg|200px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_17.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_18.jpg|200px|thumb|center|Figure 6: PCB]] | [[Image:TURTLE-5K_10.jpg|200px|thumb|center|Figure 6: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|200px|thumb|center|Figure 5: PCB]] | [[Image:TURTLE-5K_15.jpg|200px|thumb|center|Figure 7: PCB]] | [[Image:TURTLE-5K_11.jpg|200px|thumb|center|Figure 7: PCB]] | [[Image:TURTLE-5K_2.jpg|200px|thumb|center|Figure 8: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|200px|thumb|center|Figure 1: PCB]] | [[Image:TURTLE-5K_3.jpg|200px|thumb|center|Figure 2: PCB]] | [[Image:TURTLE-5K_4.jpg|200px|thumb|center|Figure 3: PCB]] | [[Image:TURTLE-5K_8.jpg|200px|thumb|center|Figure 4: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|200px|thumb|center|Figure 8: PCB]] | [[Image:TURTLE-5K_12.jpg|200px|thumb|center|Figure 8: PCB]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 923 2014-07-09T09:39:48Z Tmhafkamp 53 /* Assembled TURTLE-5K Pictures */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|200px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|200px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|200px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|200px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|200px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|200px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|200px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|200px|thumb|center|Figure 9: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|200px|thumb|center|Figure 10: PCB]] | [[Image:TURTLE-5K_15.jpg|200px|thumb|center|Figure 11: PCB]] | [[Image:TURTLE-5K_11.jpg|200px|thumb|center|Figure 12: PCB]] | [[Image:TURTLE-5K_2.jpg|200px|thumb|center|Figure 13: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|200px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|200px|thumb|center|Figure 15: PCB]] | [[Image:TURTLE-5K_4.jpg|200px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|200px|thumb|center|Figure 17: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|200px|thumb|center|Figure 18: PCB]] | [[Image:TURTLE-5K_12.jpg|200px|thumb|center|Figure 19: PCB]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 924 2014-07-09T09:41:26Z Tmhafkamp 53 /* Assembled TURTLE-5K Pictures */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|200px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|200px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|200px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|200px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|200px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|200px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|200px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|200px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|200px|thumb|center|Figure 10: PCB]] | [[Image:TURTLE-5K_15.jpg|200px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|200px|thumb|center|Figure 12: PCB]] | [[Image:TURTLE-5K_2.jpg|200px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|200px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|200px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|200px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|200px|thumb|center|Figure 17: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|200px|thumb|center|Figure 18: PCB]] | [[Image:TURTLE-5K_12.jpg|200px|thumb|center|Figure 19: PCB]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 925 2014-07-09T09:42:37Z Tmhafkamp 53 /* Assembled TURTLE-5K Pictures */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: PCB]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: PCB]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: PCB]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: PCB]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|900px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 926 2014-07-09T09:42:56Z Tmhafkamp 53 /* Poster */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: PCB]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: PCB]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: PCB]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: PCB]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|500px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 927 2014-07-09T09:43:19Z Tmhafkamp 53 /* Poster */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: PCB]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: PCB]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: PCB]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: PCB]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 928 2014-07-09T09:46:34Z Tmhafkamp 53 /* 3D Viewer */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: PCB]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: PCB]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: PCB]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: PCB]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 929 2014-07-09T09:46:54Z Tmhafkamp 53 /* 3D Viewer */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=800 |height=600 |border=0 }} = Assembled TURTLE-5K Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: PCB]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: PCB]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: PCB]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: PCB]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 930 2014-07-09T09:47:26Z Tmhafkamp 53 /* 3D Viewer */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: PCB]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: PCB]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: PCB]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: PCB]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: PCB]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 931 2014-07-09T09:49:53Z Tmhafkamp 53 /* Assembled TURTLE-5K Pictures */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: PCB]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 932 2014-07-09T09:50:28Z Tmhafkamp 53 /* Assembled TURTLE-5K Pictures */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 933 2014-07-09T09:52:11Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = Assembled TURTLE-5K Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 934 2014-07-09T09:52:52Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 1: TURTLE-5k introduction poster]] 935 2014-07-09T09:53:09Z Tmhafkamp 53 /* Poster */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 936 2014-07-09T10:06:19Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/Mechanical%20Designs/3D%20CAD%20Models/STEP/ Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 937 2014-07-09T10:06:41Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 939 2014-07-09T10:08:07Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: ''Coming Soon'' * Software: ''Coming Soon'' * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 940 2014-07-09T10:08:50Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 941 2014-07-09T10:09:10Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k] [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 942 2014-07-09T10:09:32Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k], [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = {{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }} = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 943 2014-07-09T10:14:00Z Tmhafkamp 53 /* 3D Viewer */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k], [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }}</center> = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 944 2014-07-09T10:14:42Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k], [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }}</center> = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 945 2014-07-09T10:25:21Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k], [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }}</center> = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 946 2014-07-09T10:26:30Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Soldiworks/ Solidworks] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k], [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }}</center> = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 947 2014-07-09T10:30:32Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Solidworks/ Solidworks] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k], [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K_BIG.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }}</center> = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 958 2014-07-15T11:51:43Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Solidworks/ Solidworks] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k], [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }}</center> = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 959 2014-07-15T11:57:57Z Tmhafkamp 53 /* TURTLE-5k Pictures */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Solidworks/ Solidworks] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k], [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }}</center> = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_57.jpg|200px|thumb|center|Figure 20: ]] | [[Image:Turtle-5K_2_58.jpg|200px|thumb|center|Figure 21: ]] | [[Image:Turtle-5K_2_59.jpg|200px|thumb|center|Figure 22: ]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_60.jpg|200px|thumb|center|Figure 20: ]] | [[Image:Turtle-5K_2_61.jpg|200px|thumb|center|Figure 21: ]] | [[Image:Turtle-5K_2_62.jpg|200px|thumb|center|Figure 22: ]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 960 2014-07-15T11:58:15Z Tmhafkamp 53 /* TURTLE-5k Pictures */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Solidworks/ Solidworks] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k], [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }}</center> = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_57.jpg|200px|thumb|center|Figure 20: ]] | [[Image:Turtle-5K_2_58.jpg|200px|thumb|center|Figure 21: ]] | [[Image:Turtle-5K_2_59.jpg|200px|thumb|center|Figure 22: ]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_60.jpg|200px|thumb|center|Figure 23: ]] | [[Image:Turtle-5K_2_61.jpg|200px|thumb|center|Figure 24: ]] | [[Image:Turtle-5K_2_62.jpg|200px|thumb|center|Figure 25: ]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 961 2014-07-15T12:18:45Z Tmhafkamp 53 /* TURTLE-5k Pictures */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Solidworks/ Solidworks] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k], [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print Collaboration] [[Image:TURTLE-5K.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }}</center> = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_57.jpg|200px|thumb|center|Figure 20: Render front-right]] | [[Image:Turtle-5K_2_58.jpg|200px|thumb|center|Figure 21: Render without covers]] | [[Image:Turtle-5K_2_59.jpg|200px|thumb|center|Figure 22: Render with ball]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_60.jpg|200px|thumb|center|Figure 23: Render front]] | [[Image:Turtle-5K_2_61.jpg|200px|thumb|center|Figure 24: Render rear-left]] | [[Image:Turtle-5K_2_62.jpg|200px|thumb|center|Figure 25: Render rear]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 962 2014-07-15T13:03:34Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Solidworks/ Solidworks] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k (TU/e)], [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print TURTLE-5k collabration and value engineering (ACE)] [[Image:TURTLE-5K.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }}</center> = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_57.jpg|200px|thumb|center|Figure 20: Render front-right]] | [[Image:Turtle-5K_2_58.jpg|200px|thumb|center|Figure 21: Render without covers]] | [[Image:Turtle-5K_2_59.jpg|200px|thumb|center|Figure 22: Render with ball]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_60.jpg|200px|thumb|center|Figure 23: Render front]] | [[Image:Turtle-5K_2_61.jpg|200px|thumb|center|Figure 24: Render rear-left]] | [[Image:Turtle-5K_2_62.jpg|200px|thumb|center|Figure 25: Render rear]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 963 2014-07-15T13:04:50Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Solidworks/ Solidworks] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/] * Presentations: [<nowiki>http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k</nowiki> Development TURTLE-5k (TU/e)], [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print TURTLE-5k collabration and value engineering (ACE)] [[Image:TURTLE-5K.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }}</center> = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_57.jpg|200px|thumb|center|Figure 20: Render front-right]] | [[Image:Turtle-5K_2_58.jpg|200px|thumb|center|Figure 21: Render without covers]] | [[Image:Turtle-5K_2_59.jpg|200px|thumb|center|Figure 22: Render with ball]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_60.jpg|200px|thumb|center|Figure 23: Render front]] | [[Image:Turtle-5K_2_61.jpg|200px|thumb|center|Figure 24: Render rear-left]] | [[Image:Turtle-5K_2_62.jpg|200px|thumb|center|Figure 25: Render rear]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 964 2014-07-15T13:05:31Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Solidworks/ Solidworks] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/] * Presentations: <nowiki>[http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k (TU/e)]</nowiki>, [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print TURTLE-5k collabration and value engineering (ACE)] [[Image:TURTLE-5K.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }}</center> = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_57.jpg|200px|thumb|center|Figure 20: Render front-right]] | [[Image:Turtle-5K_2_58.jpg|200px|thumb|center|Figure 21: Render without covers]] | [[Image:Turtle-5K_2_59.jpg|200px|thumb|center|Figure 22: Render with ball]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_60.jpg|200px|thumb|center|Figure 23: Render front]] | [[Image:Turtle-5K_2_61.jpg|200px|thumb|center|Figure 24: Render rear-left]] | [[Image:Turtle-5K_2_62.jpg|200px|thumb|center|Figure 25: Render rear]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 965 2014-07-15T13:05:47Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Solidworks/ Solidworks] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k (TU/e)], [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print TURTLE-5k collabration and value engineering (ACE)] [[Image:TURTLE-5K.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }}</center> = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_57.jpg|200px|thumb|center|Figure 20: Render front-right]] | [[Image:Turtle-5K_2_58.jpg|200px|thumb|center|Figure 21: Render without covers]] | [[Image:Turtle-5K_2_59.jpg|200px|thumb|center|Figure 22: Render with ball]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_60.jpg|200px|thumb|center|Figure 23: Render front]] | [[Image:Turtle-5K_2_61.jpg|200px|thumb|center|Figure 24: Render rear-left]] | [[Image:Turtle-5K_2_62.jpg|200px|thumb|center|Figure 25: Render rear]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 966 2014-07-15T13:06:45Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Solidworks/ Solidworks] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k|target='_new' Development TURTLE-5k (TU/e)], [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print TURTLE-5k collabration and value engineering (ACE)] [[Image:TURTLE-5K.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }}</center> = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_57.jpg|200px|thumb|center|Figure 20: Render front-right]] | [[Image:Turtle-5K_2_58.jpg|200px|thumb|center|Figure 21: Render without covers]] | [[Image:Turtle-5K_2_59.jpg|200px|thumb|center|Figure 22: Render with ball]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_60.jpg|200px|thumb|center|Figure 23: Render front]] | [[Image:Turtle-5K_2_61.jpg|200px|thumb|center|Figure 24: Render rear-left]] | [[Image:Turtle-5K_2_62.jpg|200px|thumb|center|Figure 25: Render rear]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 967 2014-07-15T13:07:03Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Solidworks/ Solidworks] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k (TU/e)], [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print TURTLE-5k collabration and value engineering (ACE)] [[Image:TURTLE-5K.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }}</center> = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_57.jpg|200px|thumb|center|Figure 20: Render front-right]] | [[Image:Turtle-5K_2_58.jpg|200px|thumb|center|Figure 21: Render without covers]] | [[Image:Turtle-5K_2_59.jpg|200px|thumb|center|Figure 22: Render with ball]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_60.jpg|200px|thumb|center|Figure 23: Render front]] | [[Image:Turtle-5K_2_61.jpg|200px|thumb|center|Figure 24: Render rear-left]] | [[Image:Turtle-5K_2_62.jpg|200px|thumb|center|Figure 25: Render rear]] |} = Poster = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 992 2014-07-22T07:14:50Z Tmhafkamp 53 /* Poster */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Solidworks/ Solidworks] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k (TU/e)], [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print TURTLE-5k collabration and value engineering (ACE)] [[Image:TURTLE-5K.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }}</center> = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_57.jpg|200px|thumb|center|Figure 20: Render front-right]] | [[Image:Turtle-5K_2_58.jpg|200px|thumb|center|Figure 21: Render without covers]] | [[Image:Turtle-5K_2_59.jpg|200px|thumb|center|Figure 22: Render with ball]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_60.jpg|200px|thumb|center|Figure 23: Render front]] | [[Image:Turtle-5K_2_61.jpg|200px|thumb|center|Figure 24: Render rear-left]] | [[Image:Turtle-5K_2_62.jpg|200px|thumb|center|Figure 25: Render rear]] |} = Poster 2013 = [[Image:TURTLE-5K_POSTER.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 994 2014-07-22T10:09:47Z Tmhafkamp 53 /* Poster 2013 */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Solidworks/ Solidworks] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k (TU/e)], [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print TURTLE-5k collabration and value engineering (ACE)] [[Image:TURTLE-5K.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }}</center> = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_57.jpg|200px|thumb|center|Figure 20: Render front-right]] | [[Image:Turtle-5K_2_58.jpg|200px|thumb|center|Figure 21: Render without covers]] | [[Image:Turtle-5K_2_59.jpg|200px|thumb|center|Figure 22: Render with ball]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_60.jpg|200px|thumb|center|Figure 23: Render front]] | [[Image:Turtle-5K_2_61.jpg|200px|thumb|center|Figure 24: Render rear-left]] | [[Image:Turtle-5K_2_62.jpg|200px|thumb|center|Figure 25: Render rear]] |} = Poster 2013 = [[Image:Poster TURTLE-5K.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 995 2014-07-22T10:10:02Z Tmhafkamp 53 /* Poster 2013 */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Solidworks/ Solidworks] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k (TU/e)], [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print TURTLE-5k collabration and value engineering (ACE)] [[Image:TURTLE-5K.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }}</center> = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_57.jpg|200px|thumb|center|Figure 20: Render front-right]] | [[Image:Turtle-5K_2_58.jpg|200px|thumb|center|Figure 21: Render without covers]] | [[Image:Turtle-5K_2_59.jpg|200px|thumb|center|Figure 22: Render with ball]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_60.jpg|200px|thumb|center|Figure 23: Render front]] | [[Image:Turtle-5K_2_61.jpg|200px|thumb|center|Figure 24: Render rear-left]] | [[Image:Turtle-5K_2_62.jpg|200px|thumb|center|Figure 25: Render rear]] |} = Poster = [[Image:Poster TURTLE-5K.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 996 2014-07-30T10:50:30Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Solidworks/ Solidworks] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/wiki/index.php?title=TURTLE-5K_-_WORK_IN_PROGRESS Wiki] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k (TU/e)], [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print TURTLE-5k collabration and value engineering (ACE)] [[Image:TURTLE-5K.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }}</center> = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_57.jpg|200px|thumb|center|Figure 20: Render front-right]] | [[Image:Turtle-5K_2_58.jpg|200px|thumb|center|Figure 21: Render without covers]] | [[Image:Turtle-5K_2_59.jpg|200px|thumb|center|Figure 22: Render with ball]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_60.jpg|200px|thumb|center|Figure 23: Render front]] | [[Image:Turtle-5K_2_61.jpg|200px|thumb|center|Figure 24: Render rear-left]] | [[Image:Turtle-5K_2_62.jpg|200px|thumb|center|Figure 25: Render rear]] |} = Poster = [[Image:Poster TURTLE-5K.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 997 2014-07-30T10:58:38Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Solidworks/ Solidworks] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Bill Of Materials''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Bill%20Of%20Materials/ BOM] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/wiki/index.php?title=TURTLE-5K_-_WORK_IN_PROGRESS Wiki] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k (TU/e)], [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print TURTLE-5k collabration and value engineering (ACE)] [[Image:TURTLE-5K.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }}</center> = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_57.jpg|200px|thumb|center|Figure 20: Render front-right]] | [[Image:Turtle-5K_2_58.jpg|200px|thumb|center|Figure 21: Render without covers]] | [[Image:Turtle-5K_2_59.jpg|200px|thumb|center|Figure 22: Render with ball]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_60.jpg|200px|thumb|center|Figure 23: Render front]] | [[Image:Turtle-5K_2_61.jpg|200px|thumb|center|Figure 24: Render rear-left]] | [[Image:Turtle-5K_2_62.jpg|200px|thumb|center|Figure 25: Render rear]] |} = Poster = [[Image:Poster TURTLE-5K.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 998 2014-07-30T10:59:32Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Bill Of Materials''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Bill%20Of%20Materials/ BOM (Excel)] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Solidworks/ Solidworks] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/wiki/index.php?title=TURTLE-5K_-_WORK_IN_PROGRESS Wiki] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k (TU/e)], [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print TURTLE-5k collabration and value engineering (ACE)] [[Image:TURTLE-5K.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }}</center> = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_57.jpg|200px|thumb|center|Figure 20: Render front-right]] | [[Image:Turtle-5K_2_58.jpg|200px|thumb|center|Figure 21: Render without covers]] | [[Image:Turtle-5K_2_59.jpg|200px|thumb|center|Figure 22: Render with ball]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_60.jpg|200px|thumb|center|Figure 23: Render front]] | [[Image:Turtle-5K_2_61.jpg|200px|thumb|center|Figure 24: Render rear-left]] | [[Image:Turtle-5K_2_62.jpg|200px|thumb|center|Figure 25: Render rear]] |} = Poster = [[Image:Poster TURTLE-5K.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 999 2014-07-30T10:59:58Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Bill Of Materials''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Bill%20Of%20Materials/ BOM Spreadsheet] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Solidworks/ Solidworks] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/wiki/index.php?title=TURTLE-5K_-_WORK_IN_PROGRESS Wiki] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k (TU/e)], [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print TURTLE-5k collabration and value engineering (ACE)] [[Image:TURTLE-5K.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }}</center> = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_57.jpg|200px|thumb|center|Figure 20: Render front-right]] | [[Image:Turtle-5K_2_58.jpg|200px|thumb|center|Figure 21: Render without covers]] | [[Image:Turtle-5K_2_59.jpg|200px|thumb|center|Figure 22: Render with ball]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_60.jpg|200px|thumb|center|Figure 23: Render front]] | [[Image:Turtle-5K_2_61.jpg|200px|thumb|center|Figure 24: Render rear-left]] | [[Image:Turtle-5K_2_62.jpg|200px|thumb|center|Figure 25: Render rear]] |} = Poster = [[Image:Poster TURTLE-5K.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 1000 2014-07-30T11:00:18Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Bill Of Materials''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Bill%20Of%20Materials/ Excel Spreadsheet] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Solidworks/ Solidworks] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/wiki/index.php?title=TURTLE-5K_-_WORK_IN_PROGRESS Wiki] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5k/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k (TU/e)], [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print TURTLE-5k collabration and value engineering (ACE)] [[Image:TURTLE-5K.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }}</center> = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_57.jpg|200px|thumb|center|Figure 20: Render front-right]] | [[Image:Turtle-5K_2_58.jpg|200px|thumb|center|Figure 21: Render without covers]] | [[Image:Turtle-5K_2_59.jpg|200px|thumb|center|Figure 22: Render with ball]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_60.jpg|200px|thumb|center|Figure 23: Render front]] | [[Image:Turtle-5K_2_61.jpg|200px|thumb|center|Figure 24: Render rear-left]] | [[Image:Turtle-5K_2_62.jpg|200px|thumb|center|Figure 25: Render rear]] |} = Poster = [[Image:Poster TURTLE-5K.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 1104 2022-08-11T12:51:03Z Fruitcake 1 Update new ROP repository location {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Authors''' |- | style="background:white; color:black;" align="left" | [http://www.turtle5k.org/ TURTLE-5k website] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | [http://www.ace.eu/ ACE] |- | style="background:white; color:black;" align="left" | [http://www.frenckengroup.com/ Frencken] |- | style="background:white; color:black;" align="left" | [http://www.veds.nl/ V.E.D.S.] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:white; color:black;" align="left" | frank.steeghs@ace.eu |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Bill Of Materials''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE-5K/Bill%20Of%20Materials/ Excel Spreadsheet] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE-5K/Mechanical%20Designs/3D%20CAD%20Models/Solidworks/ Solidworks] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''Coming Soon'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/wiki/index.php?title=TURTLE-5K_-_WORK_IN_PROGRESS Wiki] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/License/ License Files] |- |} [[TURTLE-5K|TURTLE-5k]]: ''Coming Soon'' __TOC__ = Robot Summary = The TURTLE-5k is a remake of the [[TURTLE|TURTLE]] robots, the 2012 world champion robot-soccer in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League], with a cost price reduction from €25.000,- to €5.000,-. * Authors: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e], [http://www.ace.eu/ ACE], [http://www.frenckengroup.com/ Frencken], [http://www.veds.nl/ V.E.D.S.] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE-5K https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE-5K] * Presentations: [http://www.slideshare.net/franksteeghs/presentation-high-techturtle5k Development TURTLE-5k (TU/e)], [http://www.slideshare.net/franksteeghs/presentatie-fst-ht-sys-mei-2014-vs05-print TURTLE-5k collabration and value engineering (ACE)] [[Image:TURTLE-5K.jpg|200px|thumb|center|Figure 1: TURTLE-5k]] This TURTLE-5k becomes an affordable development platform to participate in Middle Size League (MSL) of the international RoboCup competition. This competition aims through various leagues to accelerate robotics to a higher level. MSL is a challenging league in which the robots have to function and play normal football autonomously. Technological innovations are stimulated because all inventions are open source. Initially, ACE has studied the TURTLE 2012. By looking at the features has resulted in the Value Analysis. By applying Value Engineering has been made clear what functions the most cost and where you should focus on cost reduction. This is followed by an investigation to the best production methods to ultimately make a series of 50 robots. This is also done in cooperation with the TU / e and the knowledge of the other participants Frencken and VEDS . The prototype is tested. On the basis of the test results, the design is adjusted so it is ready for others to download it and to make an own team. = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/603bfde9a253475a974ddc468b39c6f7/embed |width=640 |height=480 |border=0 }}</center> = TURTLE-5k Pictures = {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_13.jpg|150px|thumb|center|Figure 2: Rear-right view]] | [[Image:TURTLE-5K_6.jpg|150px|thumb|center|Figure 3: Rear-left view]] | [[Image:TURTLE-5K_7.jpg|150px|thumb|center|Figure 4: Front-left view]] | [[Image:TURTLE-5K_14.jpg|150px|thumb|center|Figure 5: Vision system]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_9.jpg|150px|thumb|center|Figure 6: Ball handling and kicking]] | [[Image:TURTLE-5K_17.jpg|150px|thumb|center|Figure 7: Vision system]] | [[Image:TURTLE-5K_18.jpg|150px|thumb|center|Figure 8: Computer box]] | [[Image:TURTLE-5K_10.jpg|150px|thumb|center|Figure 9: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_5.jpg|150px|thumb|center|Figure 10: Base]] | [[Image:TURTLE-5K_15.jpg|150px|thumb|center|Figure 11: Ball handling and kicking]] | [[Image:TURTLE-5K_11.jpg|150px|thumb|center|Figure 12: Electronics]] | [[Image:TURTLE-5K_2.jpg|150px|thumb|center|Figure 13: Ball handling and kicking]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K 1.jpg|150px|thumb|center|Figure 14: PCB]] | [[Image:TURTLE-5K_3.jpg|150px|thumb|center|Figure 15: Omniwheel]] | [[Image:TURTLE-5K_4.jpg|150px|thumb|center|Figure 16: PCB]] | [[Image:TURTLE-5K_8.jpg|150px|thumb|center|Figure 17: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:TURTLE-5K_16.jpg|150px|thumb|center|Figure 18: Kicking mechanism]] | [[Image:TURTLE-5K_12.jpg|150px|thumb|center|Figure 19: Base]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_57.jpg|200px|thumb|center|Figure 20: Render front-right]] | [[Image:Turtle-5K_2_58.jpg|200px|thumb|center|Figure 21: Render without covers]] | [[Image:Turtle-5K_2_59.jpg|200px|thumb|center|Figure 22: Render with ball]] |} {| style="background: transparent; margin: auto;" | [[Image:Turtle-5K_2_60.jpg|200px|thumb|center|Figure 23: Render front]] | [[Image:Turtle-5K_2_61.jpg|200px|thumb|center|Figure 24: Render rear-left]] | [[Image:Turtle-5K_2_62.jpg|200px|thumb|center|Figure 25: Render rear]] |} = Poster = [[Image:Poster TURTLE-5K.jpg|400px|thumb|center|Figure 20: TURTLE-5k introduction poster]] 273 1043 2020-03-25T07:38:19Z Whoutman 74 Created page with "{| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey..." {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1046 2020-03-25T07:54:55Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the TURTLEs are the football robots that compete in the [https://msl.robocup.org/ RoboCup Middle Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] [[Image:Keeper.jpg|400px|thumb|center|Figure 1: TURTLE Goalkeeper]] = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1048 2020-03-25T08:41:13Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the TURTLEs are the football robots that compete in the [https://msl.robocup.org/ RoboCup Middle Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1049 2020-03-25T09:08:48Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] TURTLEs are the football robots that compete in the [https://msl.robocup.org/ RoboCup Middle Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1050 2020-03-25T10:19:50Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels, thus being five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. The last constraint is addressed by a hinging axle at the back of the robot. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1054 2020-03-25T13:17:16Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels, thus being five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. The last constraint is addressed by a hinging axle at the back of the robot. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1055 2020-03-25T13:26:04Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels, thus being five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. The last constraint is addressed by a hinging axle at the back of the robot. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1056 2020-03-25T13:37:20Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels, thus being five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. The last constraint is addressed by a hinging axle at the back of the robot. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1058 2020-03-25T13:48:19Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels, thus being five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. The last constraint is addressed by a hinging axle at the back of the robot. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1059 2020-03-25T13:48:58Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels, thus being five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. The last constraint is addressed by a hinging axle at the back of the robot. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1061 2020-03-25T13:57:28Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1062 2020-03-25T16:40:17Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels. Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = 3D Viewer = <center>{{#widget:Iframe |url=TODO |width=640 |height=480 |border=0 }}</center> = Overview = The eight-wheels system is a redesign of the three wheeled version. As such, the base has been reconsidered, while the [[TURTLE Upper Body|The upper body]] and the [TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system. Thisplatform consists of four wheel sets, each having two hub-drive wheels, thus beingfive times over-constrained. To avoid an over-constrained design, each wheelset has an internal degree of freedom. The last constraint is addressed by ahinging axle at the back of the robot. = Electronics = = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1063 2020-03-25T16:40:56Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels. Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = 3D Viewer = <center>{{#widget:Iframe |url=TODO |width=640 |height=480 |border=0 }}</center> = Overview = The eight-wheels system is a redesign of the three wheeled version. As such, the base has been reconsidered, while the [[TURTLE Upper Body|The upper body]] and the [TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system. This platform consists of four wheel sets, each having two hub-drive wheels, thus being five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. The last constraint is addressed by a hinging axle at the back of the robot. = Electronics = = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1064 2020-03-25T17:04:09Z Whoutman 74 /* 3D Viewer */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels. Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed |width=640 |height=480 |border=0 }}</center> = Overview = The eight-wheels system is a redesign of the three wheeled version. As such, the base has been reconsidered, while the [[TURTLE Upper Body|The upper body]] and the [TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system. This platform consists of four wheel sets, each having two hub-drive wheels, thus being five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. The last constraint is addressed by a hinging axle at the back of the robot. = Electronics = = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1065 2020-03-26T07:15:20Z Whoutman 74 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels. Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed |width=640 |height=480 |border=0 }}</center> = Overview = The eight-wheels system is a redesign of the three wheeled version. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system. This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot. = Electronics = = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1066 2020-03-26T08:11:45Z Whoutman 74 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels. Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed |width=640 |height=480 |border=0 }}</center> = Overview = The eight-wheels system is a redesign of the three wheeled version. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system. This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot. = Electronics = = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1069 2020-03-26T08:50:35Z Whoutman 74 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels. Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed |width=640 |height=480 |border=0 }}</center> = Overview = The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system. This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. [[File:8w-BaseView.jpg|300px|Image: 300 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeld Turtle]] = Electronics = = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1070 2020-03-26T08:54:44Z Whoutman 74 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels. Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed |width=640 |height=480 |border=0 }}</center> = Overview = The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system. This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. [[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeld Turtle]] = Electronics = = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1075 2020-03-26T08:58:54Z Whoutman 74 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels. Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed |width=640 |height=480 |border=0 }}</center> = Overview = The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system. This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. [[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled Turtle]] = Electronics = = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1076 2020-03-26T09:08:59Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- |style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels. Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed |width=640 |height=480 |border=0 }}</center> = Overview = The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system. This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. [[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled Turtle]] = Electronics = = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1077 2020-03-26T09:34:22Z Whoutman 74 /* Electronics */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- |style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels. Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed |width=640 |height=480 |border=0 }}</center> = Overview = The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system. This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. [[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled Turtle]] = Specifications = == Wheel Sets == • Wheel radius: 0.056 meter<br> • Lateral wheel distance: 0.056 meter<br> • Motor velocity constant: 135 revolutions per minute per volt <br> • Motor torque constant: 135 Newton meter per ampere<br> • Motor resistance: 0.072 Ohm<br> == Communication == Custom EtherCat module consisting of ''Observed signals:'' <br> • Measured orientation of the wheel set (19 bit encoder)<br> • Measured position of each wheel (16 bit encoder)<br> • Measured velocity of each wheel<br> • Safe torque off status<br> • Warning & error status<br> • Measured Negative Temperature Coefficient (NTC) resistor for temperature observations<br> ''Actuation Signals:'' <br> • Control Mode: position, velocity or current control <br> • Corresponding setpoint <br> = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1078 2020-03-26T09:37:02Z Whoutman 74 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- |style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels. Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed |width=640 |height=480 |border=0 }}</center> = Overview = The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system. This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. By using slip rings for powering the wheel sets and communicating the actuation signals, the rotation of the wheels is uncnstrained in both directions. [[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled Turtle]] = Specifications = == Wheel Sets == • Wheel radius: 0.056 meter<br> • Lateral wheel distance: 0.056 meter<br> • Motor velocity constant: 135 revolutions per minute per volt <br> • Motor torque constant: 135 Newton meter per ampere<br> • Motor resistance: 0.072 Ohm<br> == Communication == Custom EtherCat module consisting of ''Observed signals:'' <br> • Measured orientation of the wheel set (19 bit encoder)<br> • Measured position of each wheel (16 bit encoder)<br> • Measured velocity of each wheel<br> • Safe torque off status<br> • Warning & error status<br> • Measured Negative Temperature Coefficient (NTC) resistor for temperature observations<br> ''Actuation Signals:'' <br> • Control Mode: position, velocity or current control <br> • Corresponding setpoint <br> = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1079 2020-03-26T09:37:13Z Whoutman 74 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- |style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels. Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed |width=640 |height=480 |border=0 }}</center> = Overview = The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system. This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. By using slip rings for powering the wheel sets and communicating the actuation signals, the rotation of the wheels is unconstrained in both directions. [[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled Turtle]] = Specifications = == Wheel Sets == • Wheel radius: 0.056 meter<br> • Lateral wheel distance: 0.056 meter<br> • Motor velocity constant: 135 revolutions per minute per volt <br> • Motor torque constant: 135 Newton meter per ampere<br> • Motor resistance: 0.072 Ohm<br> == Communication == Custom EtherCat module consisting of ''Observed signals:'' <br> • Measured orientation of the wheel set (19 bit encoder)<br> • Measured position of each wheel (16 bit encoder)<br> • Measured velocity of each wheel<br> • Safe torque off status<br> • Warning & error status<br> • Measured Negative Temperature Coefficient (NTC) resistor for temperature observations<br> ''Actuation Signals:'' <br> • Control Mode: position, velocity or current control <br> • Corresponding setpoint <br> = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1080 2020-03-26T09:42:12Z Whoutman 74 /* Communication */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- |style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels. Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed |width=640 |height=480 |border=0 }}</center> = Overview = The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system. This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. By using slip rings for powering the wheel sets and communicating the actuation signals, the rotation of the wheels is unconstrained in both directions. [[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled Turtle]] = Specifications = == Wheel Sets == • Wheel radius: 0.056 meter<br> • Lateral wheel distance: 0.056 meter<br> • Motor velocity constant: 135 revolutions per minute per volt <br> • Motor torque constant: 135 Newton meter per ampere<br> • Motor resistance: 0.072 Ohm<br> == Communication == Custom EtherCat module consisting of ''Observed signals:'' <br> • Measured orientation of the wheel set (19 bit encoder)<br> • Measured position of each wheel (16 bit encoder)<br> • Measured velocity of each wheel<br> • Safe torque off status<br> • Warning & error statuses<br> • Measured Negative Temperature Coefficient (NTC) resistor for temperature observations<br> ''Actuation Signals:'' <br> • Control Mode: position, velocity or current control <br> • Corresponding setpoint <br> = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1081 2020-03-26T09:45:46Z Whoutman 74 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- |style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels. Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed |width=640 |height=480 |border=0 }}</center> = Overview = The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system. This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. By using slip rings for powering the wheel sets and communicating the control signals, the rotation of the wheels is unconstrained in both directions. [[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled Turtle]] = Specifications = == Wheel Sets == • Wheel radius: 0.056 meter<br> • Lateral wheel distance: 0.056 meter<br> • Motor velocity constant: 135 revolutions per minute per volt <br> • Motor torque constant: 135 Newton meter per ampere<br> • Motor resistance: 0.072 Ohm<br> == Communication == Custom EtherCat module consisting of ''Observed signals:'' <br> • Measured orientation of the wheel set (19 bit encoder)<br> • Measured position of each wheel (16 bit encoder)<br> • Measured velocity of each wheel<br> • Safe torque off status<br> • Warning & error statuses<br> • Measured Negative Temperature Coefficient (NTC) resistor for temperature observations<br> ''Actuation Signals:'' <br> • Control Mode: position, velocity or current control <br> • Corresponding setpoint <br> = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1082 2020-03-26T09:47:52Z Whoutman 74 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- |style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels. Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed |width=640 |height=480 |border=0 }}</center> = Overview = The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system. This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. By using slip rings for powering the wheel sets and communicating the control signals, the rotation of the wheels is unconstrained in both directions. [[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled soccer robot]] = Specifications = == Wheel Sets == • Wheel radius: 0.056 meter<br> • Lateral wheel distance: 0.056 meter<br> • Motor velocity constant: 135 revolutions per minute per volt <br> • Motor torque constant: 135 Newton meter per ampere<br> • Motor resistance: 0.072 Ohm<br> == Communication == Custom EtherCat module consisting of ''Observed signals:'' <br> • Measured orientation of the wheel set (19 bit encoder)<br> • Measured position of each wheel (16 bit encoder)<br> • Measured velocity of each wheel<br> • Safe torque off status<br> • Warning & error statuses<br> • Measured Negative Temperature Coefficient (NTC) resistor for temperature observations<br> ''Actuation Signals:'' <br> • Control Mode: position, velocity or current control <br> • Corresponding setpoint <br> = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1083 2020-06-26T10:03:17Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- |style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels. Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed |width=640 |height=480 |border=0 }}</center> = Overview = The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system. This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. By using slip rings for powering the wheel sets and communicating the control signals, the rotation of the wheels is unconstrained in both directions. [[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled soccer robot]] = Specifications = == Wheel Sets == • Wheel radius: 0.056 meter<br> • Lateral wheel distance: 0.056 meter<br> • Motor velocity constant: 135 revolutions per minute per volt <br> • Motor torque constant: 135 Newton meter per ampere<br> • Motor resistance: 0.072 Ohm<br> == Communication == Custom EtherCat module consisting of ''Observed signals:'' <br> • Measured orientation of the wheel set (19 bit encoder)<br> • Measured position of each wheel (16 bit encoder)<br> • Measured velocity of each wheel<br> • Safe torque off status<br> • Warning & error statuses<br> • Measured Negative Temperature Coefficient (NTC) resistor for temperature observations<br> ''Actuation Signals:'' <br> • Control Mode: position, velocity or current control <br> • Corresponding setpoint <br> = Video = The first match appearance of the Eight-wheeled system at the RoboCup Portuguese Open 2019. The eight-wheeled system, indicated with number 7, can be discriminated from the other robots based on the squared base. <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|nF_6aQLqb-Y}}</div> = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1088 2020-07-01T12:41:19Z Whoutman 74 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- |style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]. Chose the "Turtle8W" subsystem to find the implementation of the control architecture of the 8-wheeled base. Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels. Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed |width=640 |height=480 |border=0 }}</center> = Overview = The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system. This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. By using slip rings for powering the wheel sets and communicating the control signals, the rotation of the wheels is unconstrained in both directions. [[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled soccer robot]] = Specifications = == Wheel Sets == • Wheel radius: 0.056 meter<br> • Lateral wheel distance: 0.056 meter<br> • Motor velocity constant: 135 revolutions per minute per volt <br> • Motor torque constant: 135 Newton meter per ampere<br> • Motor resistance: 0.072 Ohm<br> == Communication == Custom EtherCat module consisting of ''Observed signals:'' <br> • Measured orientation of the wheel set (19 bit encoder)<br> • Measured position of each wheel (16 bit encoder)<br> • Measured velocity of each wheel<br> • Safe torque off status<br> • Warning & error statuses<br> • Measured Negative Temperature Coefficient (NTC) resistor for temperature observations<br> ''Actuation Signals:'' <br> • Control Mode: position, velocity or current control <br> • Corresponding setpoint <br> = Video = The first match appearance of the Eight-wheeled system at the RoboCup Portuguese Open 2019. The eight-wheeled system, indicated with number 7, can be discriminated from the other robots based on the squared base. <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|nF_6aQLqb-Y}}</div> = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1089 2020-09-03T06:27:23Z Whoutman 74 /* Video */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- |style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]. Chose the "Turtle8W" subsystem to find the implementation of the control architecture of the 8-wheeled base. Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels. Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed |width=640 |height=480 |border=0 }}</center> = Overview = The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system. This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. By using slip rings for powering the wheel sets and communicating the control signals, the rotation of the wheels is unconstrained in both directions. [[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled soccer robot]] = Specifications = == Wheel Sets == • Wheel radius: 0.056 meter<br> • Lateral wheel distance: 0.056 meter<br> • Motor velocity constant: 135 revolutions per minute per volt <br> • Motor torque constant: 135 Newton meter per ampere<br> • Motor resistance: 0.072 Ohm<br> == Communication == Custom EtherCat module consisting of ''Observed signals:'' <br> • Measured orientation of the wheel set (19 bit encoder)<br> • Measured position of each wheel (16 bit encoder)<br> • Measured velocity of each wheel<br> • Safe torque off status<br> • Warning & error statuses<br> • Measured Negative Temperature Coefficient (NTC) resistor for temperature observations<br> ''Actuation Signals:'' <br> • Control Mode: position, velocity or current control <br> • Corresponding setpoint <br> = Video = The first match appearance of the Eight-wheeled system at the RoboCup Portuguese Open 2019. The eight-wheeled system, indicated with number 7, can be discriminated from the other robots based on its square base. <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|nF_6aQLqb-Y}}</div> = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1090 2020-12-08T19:31:46Z Whoutman 74 /* Video */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- |style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]. Chose the "Turtle8W" subsystem to find the implementation of the control architecture of the 8-wheeled base. Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels. Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed |width=640 |height=480 |border=0 }}</center> = Overview = The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system. This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. By using slip rings for powering the wheel sets and communicating the control signals, the rotation of the wheels is unconstrained in both directions. [[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled soccer robot]] = Specifications = == Wheel Sets == • Wheel radius: 0.056 meter<br> • Lateral wheel distance: 0.056 meter<br> • Motor velocity constant: 135 revolutions per minute per volt <br> • Motor torque constant: 135 Newton meter per ampere<br> • Motor resistance: 0.072 Ohm<br> == Communication == Custom EtherCat module consisting of ''Observed signals:'' <br> • Measured orientation of the wheel set (19 bit encoder)<br> • Measured position of each wheel (16 bit encoder)<br> • Measured velocity of each wheel<br> • Safe torque off status<br> • Warning & error statuses<br> • Measured Negative Temperature Coefficient (NTC) resistor for temperature observations<br> ''Actuation Signals:'' <br> • Control Mode: position, velocity or current control <br> • Corresponding setpoint <br> = Video = The first match appearance of the Eight-wheeled system at the RoboCup Portuguese Open 2019. The eight-wheeled system, indicated with number 7, can be discriminated from the other robots based on its square base. <div class="center" style="width:auto; margin-left:auto; margin-right:auto;"> {{#ev:youtube|nF_6aQLqb-Y}} {{#ev:youtube|4ZPNy5IjWFQ}}}</div> = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1091 2020-12-08T19:34:25Z Whoutman 74 /* Video */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- |style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] * Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]. Chose the "Turtle8W" subsystem to find the implementation of the control architecture of the 8-wheeled base. Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels. Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed |width=640 |height=480 |border=0 }}</center> = Overview = The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system. This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. By using slip rings for powering the wheel sets and communicating the control signals, the rotation of the wheels is unconstrained in both directions. [[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled soccer robot]] = Specifications = == Wheel Sets == • Wheel radius: 0.056 meter<br> • Lateral wheel distance: 0.056 meter<br> • Motor velocity constant: 135 revolutions per minute per volt <br> • Motor torque constant: 135 Newton meter per ampere<br> • Motor resistance: 0.072 Ohm<br> == Communication == Custom EtherCat module consisting of ''Observed signals:'' <br> • Measured orientation of the wheel set (19 bit encoder)<br> • Measured position of each wheel (16 bit encoder)<br> • Measured velocity of each wheel<br> • Safe torque off status<br> • Warning & error statuses<br> • Measured Negative Temperature Coefficient (NTC) resistor for temperature observations<br> ''Actuation Signals:'' <br> • Control Mode: position, velocity or current control <br> • Corresponding setpoint <br> = Video = The video on the left indicated the first match appearance of the Eight-wheeled system at the RoboCup Portuguese Open 2019. The eight-wheeled system, indicated with number 7, can be discriminated from the other robots based on its square base. The video on the right demonstrates the functionalities of the system on the practice field of Tech United Eindhoven. <div class="center" style="width:auto; margin-left:auto; margin-right:auto;"> {{#ev:youtube|nF_6aQLqb-Y}} {{#ev:youtube|4ZPNy5IjWFQ}}}</div> = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1103 2022-08-11T12:49:28Z Fruitcake 1 Update new ROP repository location {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/Turtle3 Software] |- |style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Software: [https://gitlab.tue.nl/tech-united-eindhoven/Turtle3 https://gitlab.tue.nl/tech-united-eindhoven/Turtle3] * Simulink Control Implementation: [https://gitlab.tue.nl/tech-united-eindhoven/Turtle3/Motion/low_level_control_lib.slx low_level_control_lib.slx]. Chose the "Turtle8W" subsystem to find the implementation of the control architecture of the 8-wheeled base. Contributions in publications about this platform can be found in Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham <gallery class="center" widths="225" heights="300" > Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels. Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system </gallery> = 3D Viewer = <center>{{#widget:Iframe |url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed |width=640 |height=480 |border=0 }}</center> = Overview = The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system. This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. By using slip rings for powering the wheel sets and communicating the control signals, the rotation of the wheels is unconstrained in both directions. [[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled soccer robot]] = Specifications = == Wheel Sets == • Wheel radius: 0.056 meter<br> • Lateral wheel distance: 0.056 meter<br> • Motor velocity constant: 135 revolutions per minute per volt <br> • Motor torque constant: 135 Newton meter per ampere<br> • Motor resistance: 0.072 Ohm<br> == Communication == Custom EtherCat module consisting of ''Observed signals:'' <br> • Measured orientation of the wheel set (19 bit encoder)<br> • Measured position of each wheel (16 bit encoder)<br> • Measured velocity of each wheel<br> • Safe torque off status<br> • Warning & error statuses<br> • Measured Negative Temperature Coefficient (NTC) resistor for temperature observations<br> ''Actuation Signals:'' <br> • Control Mode: position, velocity or current control <br> • Corresponding setpoint <br> = Video = The video on the left indicated the first match appearance of the Eight-wheeled system at the RoboCup Portuguese Open 2019. The eight-wheeled system, indicated with number 7, can be discriminated from the other robots based on its square base. The video on the right demonstrates the functionalities of the system on the practice field of Tech United Eindhoven. <div class="center" style="width:auto; margin-left:auto; margin-right:auto;"> {{#ev:youtube|nF_6aQLqb-Y}} {{#ev:youtube|4ZPNy5IjWFQ}}}</div> = License = Copyright Eindhoven University of Technology 2020. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 166 609 2012-09-11T20:17:23Z J Bos 45 Created page with "{| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey..." {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with some electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat stack; ''?? brand/type/specs''; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed (1 in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead ''??? reduction ???'' and HEDS - 5540 Encoder (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] In Figure 5 a more detailed view of the ball holders is visible, in which an omni wheel ''(1, which is a simplified representation of the wheel, ROTACASTER??)'' is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omni wheel by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation and translation. <br> On the top side, it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8)'' (???)'' is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead (radtio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a Steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. ,br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which copper coil is winded ''(?? More details GTD?? ).'' It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 616 2012-09-17T18:41:06Z J Bos 45 /* The Kicking Actuator */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with some electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat stack; ''?? brand/type/specs''; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed (1 in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead ''??? reduction ???'' and HEDS - 5540 Encoder (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] In Figure 5 a more detailed view of the ball holders is visible, in which an omni wheel ''(1, which is a simplified representation of the wheel, ROTACASTER??)'' is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omni wheel by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation and translation. <br> On the top side, it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8)'' (???)'' is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead (radtio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a Steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. ,br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 620 2012-09-18T09:48:06Z J Bos 45 /* The Ball Receivers */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with some electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat stack; ''?? brand/type/specs''; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed (1 in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead ''??? reduction ???'' and HEDS - 5540 Encoder (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] In Figure 5 a more detailed view of the ball holders is visible, in which an omni wheel ''(1, which is a simplified representation of the wheel, ROTACASTER??)'' is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omni wheel by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation and translation. <br> On the top side, it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8)'' (???)'' is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead (radtio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a Steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. ,br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 638 2012-09-18T19:32:52Z J Bos 45 /* License */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with some electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat stack; ''?? brand/type/specs''; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed (1 in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead ''??? reduction ???'' and HEDS - 5540 Encoder (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] In Figure 5 a more detailed view of the ball holders is visible, in which an omni wheel ''(1, which is a simplified representation of the wheel, ROTACASTER??)'' is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omni wheel by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation and translation. <br> On the top side, it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8)'' (???)'' is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead (radtio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a Steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. ,br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 639 2012-09-18T19:33:40Z J Bos 45 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat stack; ''?? brand/type/specs''; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed (1 in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead ''??? reduction ???'' and HEDS - 5540 Encoder (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] In Figure 5 a more detailed view of the ball holders is visible, in which an omni wheel ''(1, which is a simplified representation of the wheel, ROTACASTER??)'' is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omni wheel by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation and translation. <br> On the top side, it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8)'' (???)'' is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead (radtio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a Steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. ,br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 640 2012-09-18T19:35:10Z J Bos 45 /* The ball handling and kicking frame with hinges */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat stack; ''?? brand/type/specs''; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead ''??? reduction ???'' and HEDS - 5540 Encoder (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] In Figure 5 a more detailed view of the ball holders is visible, in which an omni wheel ''(1, which is a simplified representation of the wheel, ROTACASTER??)'' is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omni wheel by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation and translation. <br> On the top side, it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8)'' (???)'' is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead (radtio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a Steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. ,br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 641 2012-09-18T19:37:11Z J Bos 45 /* The Capacitor */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat stack; ''?? brand/type/specs''; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead ''??? reduction ???'' and HEDS - 5540 Encoder (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] In Figure 5 a more detailed view of the ball holders is visible, in which an omni wheel ''(1, which is a simplified representation of the wheel, ROTACASTER??)'' is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omni wheel by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation and translation. <br> On the top side, it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8)'' (???)'' is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead (radtio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a Steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. ,br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 642 2012-09-18T19:38:27Z J Bos 45 /* The Ball Holders */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat stack; ''?? brand/type/specs''; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead ''??? reduction ???'' and HEDS - 5540 Encoder (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] In Figure 5 a more detailed view of the ball holders is visible, in which an omniwheel ''(1, which is a simplified representation of the wheel, Kornylak??)'' is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation and translation. <br> On the top side, it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8)'' (???)'' is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead (radtio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a Steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. ,br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 643 2012-09-18T19:39:59Z J Bos 45 /* The Ball Holders */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat stack; ''?? brand/type/specs''; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead ''??? reduction ???'' and HEDS - 5540 Encoder (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] In Figure 5 a more detailed view of the ball holders is visible, in which an Kornylak Transweel ''??type??'' omniwheel ''(1, which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation and translation. <br> On the top side, it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8)'' (???)'' is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead (radtio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a Steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. ,br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 644 2012-09-18T19:40:39Z J Bos 45 /* The Ball Holders */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat stack; ''?? brand/type/specs''; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead ''??? reduction ???'' and HEDS - 5540 Encoder (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel ''??type??'' omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation and translation. <br> On the top side, it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8)'' (???)'' is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead (radtio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a Steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. ,br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 645 2012-09-18T19:45:19Z J Bos 45 /* The Ball Receivers */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat stack; ''?? brand/type/specs''; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead ''??? reduction ???'' and HEDS - 5540 Encoder (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel ''??type??'' omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), Drive backwards, steer and even rotate around it's axis without losing the ball. <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8)'' (???)'' is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead ( ??ratio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a Steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. ,br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 646 2012-09-18T19:45:53Z J Bos 45 /* The Ball Receivers */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat stack; ''?? brand/type/specs''; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead ''??? reduction ???'' and HEDS - 5540 Encoder (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel ''??type??'' omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8)'' (???)'' is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead ( ??ratio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a Steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. ,br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 647 2012-09-18T19:47:25Z J Bos 45 /* The Ball Holders */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat stack; ''?? brand/type/specs''; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead ''??? reduction ???'' and HEDS - 5540 Encoder (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel ''??type??'' omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8)'' (???)'' is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead ( ??ratio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a Steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. ,br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 648 2012-09-18T19:48:10Z J Bos 45 /* The Plunger */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat stack; ''?? brand/type/specs''; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead ''??? reduction ???'' and HEDS - 5540 Encoder (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel ''??type??'' omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8)'' (???)'' is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead ( ??ratio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 649 2012-09-18T19:52:28Z J Bos 45 /* The Kicking Actuator */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat stack; ''?? brand/type/specs''; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead ''??? reduction ???'' and HEDS - 5540 Encoder (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel ''??type??'' omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8)'' (???)'' is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead ( ??ratio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 650 2012-09-18T19:54:35Z J Bos 45 /* The Kicking Actuator */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat stack; ''?? brand/type/specs''; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead ''??? reduction ???'' and HEDS - 5540 Encoder (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel ''??type??'' omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8)'' (???)'' is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead ( ??ratio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 651 2012-09-18T19:58:29Z J Bos 45 /* The Kicking Mechanism */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat stack; ''?? brand/type/specs''; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead ''??? reduction ???'' and HEDS - 5540 Encoder (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel ''??type??'' omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8)'' (???)'' is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead ( ??ratio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball) and can be adjusted in height using the cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 652 2012-09-18T19:59:15Z J Bos 45 /* The Kicking Mechanism */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat stack; ''?? brand/type/specs''; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead ''??? reduction ???'' and HEDS - 5540 Encoder (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel ''??type??'' omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8)'' (???)'' is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead ( ??ratio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 658 2012-09-24T18:00:09Z J Bos 45 /* The Kicking Mechanism */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat stack; ''?? brand/type/specs''; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead ''??? reduction ???'' and HEDS - 5540 Encoder (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel ''??type??'' omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8)'' (???)'' is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead ( ??ratio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 667 2012-09-24T18:55:19Z J Bos 45 /* The Ball Receivers */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat stack; ''?? brand/type/specs''; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead ''??? reduction ???'' and HEDS - 5540 Encoder (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel ''??type??'' omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead ( ??ratio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 672 2012-09-26T12:26:37Z J Bos 45 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011. 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead ''??? reduction ???'' and HEDS - 5540 Encoder (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel ''??type??'' omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead ( ??ratio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 673 2012-09-26T12:27:02Z J Bos 45 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead ''??? reduction ???'' and HEDS - 5540 Encoder (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel ''??type??'' omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead ( ??ratio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 674 2012-09-26T12:28:38Z J Bos 45 /* The ball handling and kicking frame with hinges */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead with 18:1 reduction and a HEDL - 5540 Encoder (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel ''??type??'' omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead ( ??ratio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 675 2012-09-26T12:37:11Z J Bos 45 /* The ball handling and kicking frame with hinges */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead with 18:1 reduction and a HEDL - 5540 Encoder with 500CPT and Line driver RS 442 (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel ''??type??'' omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead ( ??ratio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 676 2012-09-26T12:37:32Z J Bos 45 /* The Ball Holders */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead with 18:1 reduction and a HEDL - 5540 Encoder with 500CPT and Line driver RS 442 (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C '' planetary gearhead ( ??ratio ?) is assembled ? and encoder?'' (10). Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 677 2012-09-26T12:38:58Z J Bos 45 /* The Ball Receivers */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead with 18:1 reduction and a HEDL - 5540 Encoder with 500CPT and Line driver RS 442 (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C planetary gearhead with 18:1 reduction and HEDL 5540 (500 CPT, 3 channel, with line driver RS 422) encoder (10) is assembled. Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 678 2012-09-26T12:40:43Z J Bos 45 /* The Ball Receivers */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead with 18:1 reduction and a HEDL - 5540 Encoder with 500CPT and Line driver RS 442 (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C planetary gearhead with 18:1 reduction (10) is assembled. Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL-5540 encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 679 2012-09-26T12:41:16Z J Bos 45 /* The Kicking Mechanism */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead with 18:1 reduction and a HEDL - 5540 Encoder with 500CPT and Line driver RS 442 (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C planetary gearhead with 18:1 reduction (10) is assembled. Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL 5540 (500 CPT, 3 channel, with line driver RS 422) encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 680 2012-09-26T12:42:45Z J Bos 45 /* Electronics */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead with 18:1 reduction and a HEDL - 5540 Encoder with 500CPT and Line driver RS 442 (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C planetary gearhead with 18:1 reduction (10) is assembled. Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL 5540 (500 CPT, 3 channel, with line driver RS 422) encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 694 2012-10-01T20:37:39Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/TURTLE/Ball handling and kicking/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead with 18:1 reduction and a HEDL - 5540 Encoder with 500CPT and Line driver RS 442 (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C planetary gearhead with 18:1 reduction (10) is assembled. Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL 5540 (500 CPT, 3 channel, with line driver RS 422) encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 695 2012-10-01T20:38:11Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/TURTLE/Ball_handling_and_kicking/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead with 18:1 reduction and a HEDL - 5540 Encoder with 500CPT and Line driver RS 442 (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C planetary gearhead with 18:1 reduction (10) is assembled. Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL 5540 (500 CPT, 3 channel, with line driver RS 422) encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 696 2012-10-01T20:38:41Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead with 18:1 reduction and a HEDL - 5540 Encoder with 500CPT and Line driver RS 442 (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with a GP 32 C planetary gearhead with 18:1 reduction (10) is assembled. Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL 5540 (500 CPT, 3 channel, with line driver RS 422) encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 698 2012-10-09T16:44:50Z J Bos 45 /* The Ball Receivers */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead with 18:1 reduction and a HEDL - 5540 Encoder with 500CPT and Line driver RS 442 (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with DC- Tacho DCT 22 0.52 V encoder iis assembled. Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL 5540 (500 CPT, 3 channel, with line driver RS 422) encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 725 2013-02-18T12:55:29Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead with 18:1 reduction and a HEDL - 5540 Encoder with 500CPT and Line driver RS 442 (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with DC- Tacho DCT 22 0.52 V encoder iis assembled. Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL 5540 (500 CPT, 3 channel, with line driver RS 422) encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 729 2013-02-20T09:45:21Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead with 18:1 reduction and a HEDL - 5540 Encoder with 500CPT and Line driver RS 442 (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with DC- Tacho DCT 22 0.52 V encoder iis assembled. Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL 5540 (500 CPT, 3 channel, with line driver RS 422) encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 746 2013-02-27T11:36:21Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead with 18:1 reduction and a HEDL - 5540 Encoder with 500CPT and Line driver RS 442 (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with DC- Tacho DCT 22 0.52 V encoder iis assembled. Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL 5540 (500 CPT, 3 channel, with line driver RS 422) encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 747 2013-02-27T11:36:54Z J Bos 45 /* Electronics */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead with 18:1 reduction and a HEDL - 5540 Encoder with 500CPT and Line driver RS 442 (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with DC- Tacho DCT 22 0.52 V encoder iis assembled. Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL 5540 (500 CPT, 3 channel, with line driver RS 422) encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 793 2014-02-03T13:59:22Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead with 18:1 reduction and a HEDL - 5540 Encoder with 500CPT and Line driver RS 442 (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with DC- Tacho DCT 22 0.52 V encoder iis assembled. Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL 5540 (500 CPT, 3 channel, with line driver RS 422) encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 797 2014-02-03T15:42:02Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead with 18:1 reduction and a HEDL - 5540 Encoder with 500CPT and Line driver RS 442 (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with DC- Tacho DCT 22 0.52 V encoder iis assembled. Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL 5540 (500 CPT, 3 channel, with line driver RS 422) encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 806 2014-02-03T15:45:54Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead with 18:1 reduction and a HEDL - 5540 Encoder with 500CPT and Line driver RS 442 (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with DC- Tacho DCT 22 0.52 V encoder iis assembled. Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL 5540 (500 CPT, 3 channel, with line driver RS 422) encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1039 2020-03-25T07:32:47Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead with 18:1 reduction and a HEDL - 5540 Encoder with 500CPT and Line driver RS 442 (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with DC- Tacho DCT 22 0.52 V encoder iis assembled. Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL 5540 (500 CPT, 3 channel, with line driver RS 422) encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1042 2020-03-25T07:34:13Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead with 18:1 reduction and a HEDL - 5540 Encoder with 500CPT and Line driver RS 442 (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with DC- Tacho DCT 22 0.52 V encoder iis assembled. Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL 5540 (500 CPT, 3 channel, with line driver RS 422) encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1072 2020-03-26T08:56:46Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead with 18:1 reduction and a HEDL - 5540 Encoder with 500CPT and Line driver RS 442 (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with DC- Tacho DCT 22 0.52 V encoder iis assembled. Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL 5540 (500 CPT, 3 channel, with line driver RS 422) encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1102 2022-08-11T12:47:46Z Fruitcake 1 Update new ROP repository location {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/Turtle3 Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Part Summary = The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br> * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE] * Software: [https://gitlab.tue.nl/tech-united-eindhoven/Turtle3 https://gitlab.tue.nl/tech-united-eindhoven/Turtle3] = Overview = The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively. [[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]] [[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]] Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br> The visualized components are listed down below and will be discussed in more detail. <br> 1. The ball handling and kicking frame; <br> 2. The wireless antenna from RF Solutions (315 MHz); <br> 3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br> 4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br> 5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br> 6. The ball holders from the ball handling mechanism; <br> 7. The ball receivers of the ball handling mechanism;<br> 8. The plunger; <br> 9. The kicking mechanism; <br> 10. The kicking actuator. <br> = Mechanics = == The ball handling and kicking frame with hinges == [[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]] First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br> The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead with 18:1 reduction and a HEDL - 5540 Encoder with 500CPT and Line driver RS 442 (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br> Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br> == The Capacitor == [[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]] The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br> Finally, this structure is connected to the frame with threaded holes (5). <br> Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot. == The Ball Holders == [[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]] The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br> <br> In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br> Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br> Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762). == The Ball Receivers == [[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]] The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br> <br> The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061. This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br> On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br> The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br> A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with DC- Tacho DCT 22 0.52 V encoder iis assembled. Finally the housing is closed using a cover plate (12) from ''St. 37-2.'' == The Plunger == [[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]] The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br> On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032). == The Kicking Actuator == [[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]] Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br> Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load. == The Kicking Mechanism == [[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]] The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br> <br> The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br> The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL 5540 (500 CPT, 3 channel, with line driver RS 422) encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br> On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br> = Electronics = '''Beckhoff EtherCAT Module''' <br> EK1100 Ethercat coupler <br> EL1008 8* digital in <br> EL2008 8* digital out <br> EL3102 2* analog in 10V 16 bit <br> EL4038 8* analog out 10V 12 bit <br> EL5101 Incremental encoder interface<br> EL9011 E bushing <br> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 148 587 2012-09-11T18:31:51Z J Bos 45 Created page with "{| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey..." {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff PC, Vision, Batteries, Motoes and other electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]] = Mechanics = === Base === [[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]] Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br> The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br> Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br> An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the omniwheel. <br> Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br> On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with axis from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, also M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br> Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br> Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section. == Electronic Components Mounted on the Base Frame == [[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]] Figure 4 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br> 1. 2 x Makita Ni-MH (BH2433) batteries. <br> 2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br> 3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br> The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br> 4. 2 x Battery connector <br> 5. 2 x Battery PCB (see electronics section for more details) <br> 6. DC–DC PCB (see electronics section for more details) <br> 7. Power supply PCB (see electronics section for more details) <br> 8. EtherCAT stack <br> 9. Shooting PCB (see electronics section for more details)<br> 10. High voltage unit <br> 11. PCB high voltage unit <br> 12. Potentiometer RS ??? ''(Coming soon)'' <br> == Omniwheels == Custom made omniwheels are used for the TURTLES. <br> ''(Coming soon)'' = Electronics = ''(Coming soon)'' = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 598 2012-09-11T19:05:40Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff Ethercat stack, Batteries, High Voltage Supply, Motors, Amplifiers and other electronics. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]] = Mechanics = === Base === [[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]] Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br> The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br> Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br> An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the omniwheel. <br> Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br> On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with axis from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, also M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br> Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br> Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section. == Electronic Components Mounted on the Base Frame == [[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]] Figure 4 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br> 1. 2 x Makita Ni-MH (BH2433) batteries. <br> 2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br> 3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br> The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br> 4. 2 x Battery connector <br> 5. 2 x Battery PCB (see electronics section for more details) <br> 6. DC–DC PCB (see electronics section for more details) <br> 7. Power supply PCB (see electronics section for more details) <br> 8. EtherCAT stack <br> 9. Shooting PCB (see electronics section for more details)<br> 10. High voltage unit <br> 11. PCB high voltage unit <br> 12. Potentiometer RS ??? ''(Coming soon)'' <br> == Omniwheels == Custom made omniwheels are used for the TURTLES. <br> ''(Coming soon)'' = Electronics = ''(Coming soon)'' = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 599 2012-09-11T19:10:38Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff Ethercat stack, Batteries, High Voltage Supply, Motors, Amplifiers and other electronic devices. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]] = Mechanics = === Base === [[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]] Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br> The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br> Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br> An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the omniwheel. <br> Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br> On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with axis from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, also M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br> Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br> Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section. == Electronic Components Mounted on the Base Frame == [[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]] Figure 4 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br> 1. 2 x Makita Ni-MH (BH2433) batteries. <br> 2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br> 3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br> The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br> 4. 2 x Battery connector <br> 5. 2 x Battery PCB (see electronics section for more details) <br> 6. DC–DC PCB (see electronics section for more details) <br> 7. Power supply PCB (see electronics section for more details) <br> 8. EtherCAT stack <br> 9. Shooting PCB (see electronics section for more details)<br> 10. High voltage unit <br> 11. PCB high voltage unit <br> 12. Potentiometer RS ??? ''(Coming soon)'' <br> == Omniwheels == Custom made omniwheels are used for the TURTLES. <br> ''(Coming soon)'' = Electronics = ''(Coming soon)'' = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 626 2012-09-18T19:01:03Z J Bos 45 /* Base */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff Ethercat stack, Batteries, High Voltage Supply, Motors, Amplifiers and other electronic devices. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]] = Mechanics = === Base === [[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]] Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br> The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br> Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br> An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the rear omniwheel. <br> Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br> On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with shafts from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br> Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br> Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section. == Electronic Components Mounted on the Base Frame == [[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]] Figure 4 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br> 1. 2 x Makita Ni-MH (BH2433) batteries. <br> 2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br> 3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br> The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br> 4. 2 x Battery connector <br> 5. 2 x Battery PCB (see electronics section for more details) <br> 6. DC–DC PCB (see electronics section for more details) <br> 7. Power supply PCB (see electronics section for more details) <br> 8. EtherCAT stack <br> 9. Shooting PCB (see electronics section for more details)<br> 10. High voltage unit <br> 11. PCB high voltage unit <br> 12. Potentiometer RS ??? ''(Coming soon)'' <br> == Omniwheels == Custom made omniwheels are used for the TURTLES. <br> ''(Coming soon)'' = Electronics = ''(Coming soon)'' = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 627 2012-09-18T19:02:52Z J Bos 45 /* Electronic Components Mounted on the Base Frame */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff Ethercat stack, Batteries, High Voltage Supply, Motors, Amplifiers and other electronic devices. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]] = Mechanics = === Base === [[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]] Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br> The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br> Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br> An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the rear omniwheel. <br> Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br> On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with shafts from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br> Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br> Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section. == Electronic Components Mounted on the Base Frame == [[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]] Figure 3 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br> 1. 2 x Makita Ni-MH (BH2433) batteries. <br> 2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br> 3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br> The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br> 4. 2 x Battery connector <br> 5. 2 x Battery PCB (see electronics section for more details) <br> 6. DC–DC PCB (see electronics section for more details) <br> 7. Power supply PCB (see electronics section for more details) <br> 8. EtherCAT stack <br> 9. Shooting PCB (see electronics section for more details)<br> 10. High voltage unit <br> 11. PCB high voltage unit <br> 12. Potentiometer RS ??? ''(Coming soon)'' <br> == Omniwheels == Custom made omniwheels are used for the TURTLES. <br> ''(Coming soon)'' = Electronics = ''(Coming soon)'' = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 636 2012-09-18T19:31:51Z J Bos 45 /* License */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff Ethercat stack, Batteries, High Voltage Supply, Motors, Amplifiers and other electronic devices. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]] = Mechanics = === Base === [[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]] Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br> The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br> Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br> An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the rear omniwheel. <br> Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br> On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with shafts from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br> Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br> Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section. == Electronic Components Mounted on the Base Frame == [[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]] Figure 3 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br> 1. 2 x Makita Ni-MH (BH2433) batteries. <br> 2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br> 3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br> The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br> 4. 2 x Battery connector <br> 5. 2 x Battery PCB (see electronics section for more details) <br> 6. DC–DC PCB (see electronics section for more details) <br> 7. Power supply PCB (see electronics section for more details) <br> 8. EtherCAT stack <br> 9. Shooting PCB (see electronics section for more details)<br> 10. High voltage unit <br> 11. PCB high voltage unit <br> 12. Potentiometer RS ??? ''(Coming soon)'' <br> == Omniwheels == Custom made omniwheels are used for the TURTLES. <br> ''(Coming soon)'' = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 662 2012-09-24T18:44:05Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff Ethercat stack, Batteries, High Voltage Supply, Motors, Amplifiers and other electronic devices. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]] = Mechanics = === Base === [[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]] Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br> The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br> Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br> An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the rear omniwheel. <br> Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br> On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with shafts from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br> Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br> Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section. == Electronic Components Mounted on the Base Frame == [[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]] Figure 3 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br> 1. 2 x Makita Ni-MH (BH2433) batteries. <br> 2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br> 3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br> The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br> 4. 2 x Battery connector <br> 5. 2 x Battery PCB (see electronics section for more details) <br> 6. DC–DC PCB (see electronics section for more details) <br> 7. Power supply PCB (see electronics section for more details) <br> 8. EtherCAT stack <br> 9. Shooting PCB (see electronics section for more details)<br> 10. High voltage unit <br> 11. PCB high voltage unit <br> 12. Potentiometer for angle measurement of ball receivers: RS Components 319310 Rotary position sensor <br> == Omniwheels == Custom made omniwheels are used for the TURTLES. <br> ''(Coming soon)'' = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 663 2012-09-24T18:47:08Z J Bos 45 /* Electronic Components Mounted on the Base Frame */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff Ethercat stack, Batteries, High Voltage Supply, Motors, Amplifiers and other electronic devices. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]] = Mechanics = === Base === [[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]] Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br> The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br> Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br> An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the rear omniwheel. <br> Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br> On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with shafts from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br> Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br> Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section. == Electronic Components Mounted on the Base Frame == [[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]] Figure 3 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br> 1. 2 x Makita Ni-MH (BH2433) batteries. <br> 2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br> 3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br> The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br> 4. 2 x Battery connector <br> 5. 2 x Battery PCB (see electronics section for more details) <br> 6. DC–DC PCB (see electronics section for more details) <br> 7. Power supply PCB (see electronics section for more details) <br> 8. EtherCAT stack <br> 9. Shooting PCB (see electronics section for more details)<br> 10. High voltage unit <br> 11. PCB high voltage unit <br> 12. Potentiometer for angle measurement of ball receivers: Vishay 971-0002 Rotary position sensor, 5 kOhm <br> == Omniwheels == Custom made omniwheels are used for the TURTLES. <br> ''(Coming soon)'' = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 688 2012-09-29T17:15:39Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff Ethercat stack, Batteries, High Voltage Supply, Motors, Amplifiers and other electronic devices. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]] = Mechanics = === Base === [[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]] Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br> The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br> Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br> An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the rear omniwheel. <br> Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br> On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with shafts from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br> Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br> Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section. == Electronic Components Mounted on the Base Frame == [[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]] Figure 3 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br> 1. 2 x Makita Ni-MH (BH2433) batteries. <br> 2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br> 3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br> The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br> 4. 2 x Battery connector <br> 5. 2 x Battery PCB (see electronics section for more details) <br> 6. DC–DC PCB (see electronics section for more details) <br> 7. Power supply PCB (see electronics section for more details) <br> 8. EtherCAT stack <br> 9. Shooting PCB (see electronics section for more details)<br> 10. High voltage unit <br> 11. PCB high voltage unit <br> 12. Potentiometer for angle measurement of ball receivers: Vishay 971-0002 Rotary position sensor, 5 kOhm <br> == Omniwheels == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Omniwheel.jpg|440px|thumb|center|Figure 4: Omniwheel assembly]] | [[Image:TURTLE_Omniwheel_EV.jpg|440px|thumb|center|Figure 5: Exploded view of the omniwheel assembly]] |} Custom made omniwheels are used for the Turtles. The assembly and exploded view are depicted in Figures 4 and 5 respectively. Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 4. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 689 2012-09-29T17:36:19Z J Bos 45 /* Omniwheels */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff Ethercat stack, Batteries, High Voltage Supply, Motors, Amplifiers and other electronic devices. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]] = Mechanics = === Base === [[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]] Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br> The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br> Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br> An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the rear omniwheel. <br> Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br> On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with shafts from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br> Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br> Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section. == Electronic Components Mounted on the Base Frame == [[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]] Figure 3 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br> 1. 2 x Makita Ni-MH (BH2433) batteries. <br> 2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br> 3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br> The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br> 4. 2 x Battery connector <br> 5. 2 x Battery PCB (see electronics section for more details) <br> 6. DC–DC PCB (see electronics section for more details) <br> 7. Power supply PCB (see electronics section for more details) <br> 8. EtherCAT stack <br> 9. Shooting PCB (see electronics section for more details)<br> 10. High voltage unit <br> 11. PCB high voltage unit <br> 12. Potentiometer for angle measurement of ball receivers: Vishay 971-0002 Rotary position sensor, 5 kOhm <br> == Omniwheels == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Omniwheel.jpg|440px|thumb|center|Figure 4: Omniwheel assembly]] | [[Image:TURTLE_Omniwheel_EV.jpg|440px|thumb|center|Figure 5: Exploded view of the omniwheel assembly]] |} Currently, custom made omniwheels are used on the Turtles. The assembly and exploded view are depicted in Figures 4 and 5 respectively. <br> The inner ring (1) from aluminum is used to support two rings of each eight rollers (2). Each ring of rollers (2) is held together using two aluminum rings (3). The left ring of rollers in Figure 5 is bolted with BS 4618 Hexagon sockets (5) on the inner ring (1), while the right ring of rollers is bolted with BS 4618 Hexagon sockets (5) on the aluminum outer ring (4). The total omniwheel is assembled by bolting the outer ring (4) to the innner ring (1) using ISO 4762 M3 x 16 Allen bolts (6). <br> One smaller roller is fitted with three O-rings; two 16 mm inner diameter O-rings on the outside and one 17 mm inner diameter O-ring in the middle. Two needle roller bearings (INA HK0609) are placed inside each roller on a 6 x 32 mm shaft to ensure smooth rolling. At the start and the end of the shaft, 12 x 6 mm shims with a thickness of 0.5 mm are used as spacers. = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 692 2012-10-01T20:36:47Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff Ethercat stack, Batteries, High Voltage Supply, Motors, Amplifiers and other electronic devices. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]] = Mechanics = === Base === [[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]] Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br> The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br> Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br> An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the rear omniwheel. <br> Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br> On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with shafts from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br> Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br> Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section. == Electronic Components Mounted on the Base Frame == [[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]] Figure 3 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br> 1. 2 x Makita Ni-MH (BH2433) batteries. <br> 2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br> 3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br> The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br> 4. 2 x Battery connector <br> 5. 2 x Battery PCB (see electronics section for more details) <br> 6. DC–DC PCB (see electronics section for more details) <br> 7. Power supply PCB (see electronics section for more details) <br> 8. EtherCAT stack <br> 9. Shooting PCB (see electronics section for more details)<br> 10. High voltage unit <br> 11. PCB high voltage unit <br> 12. Potentiometer for angle measurement of ball receivers: Vishay 971-0002 Rotary position sensor, 5 kOhm <br> == Omniwheels == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Omniwheel.jpg|440px|thumb|center|Figure 4: Omniwheel assembly]] | [[Image:TURTLE_Omniwheel_EV.jpg|440px|thumb|center|Figure 5: Exploded view of the omniwheel assembly]] |} Currently, custom made omniwheels are used on the Turtles. The assembly and exploded view are depicted in Figures 4 and 5 respectively. <br> The inner ring (1) from aluminum is used to support two rings of each eight rollers (2). Each ring of rollers (2) is held together using two aluminum rings (3). The left ring of rollers in Figure 5 is bolted with BS 4618 Hexagon sockets (5) on the inner ring (1), while the right ring of rollers is bolted with BS 4618 Hexagon sockets (5) on the aluminum outer ring (4). The total omniwheel is assembled by bolting the outer ring (4) to the innner ring (1) using ISO 4762 M3 x 16 Allen bolts (6). <br> One smaller roller is fitted with three O-rings; two 16 mm inner diameter O-rings on the outside and one 17 mm inner diameter O-ring in the middle. Two needle roller bearings (INA HK0609) are placed inside each roller on a 6 x 32 mm shaft to ensure smooth rolling. At the start and the end of the shaft, 12 x 6 mm shims with a thickness of 0.5 mm are used as spacers. = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 723 2013-02-18T12:54:17Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff Ethercat stack, Batteries, High Voltage Supply, Motors, Amplifiers and other electronic devices. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]] = Mechanics = === Base === [[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]] Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br> The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br> Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br> An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the rear omniwheel. <br> Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br> On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with shafts from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br> Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br> Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section. == Electronic Components Mounted on the Base Frame == [[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]] Figure 3 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br> 1. 2 x Makita Ni-MH (BH2433) batteries. <br> 2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br> 3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br> The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br> 4. 2 x Battery connector <br> 5. 2 x Battery PCB (see electronics section for more details) <br> 6. DC–DC PCB (see electronics section for more details) <br> 7. Power supply PCB (see electronics section for more details) <br> 8. EtherCAT stack <br> 9. Shooting PCB (see electronics section for more details)<br> 10. High voltage unit <br> 11. PCB high voltage unit <br> 12. Potentiometer for angle measurement of ball receivers: Vishay 971-0002 Rotary position sensor, 5 kOhm <br> == Omniwheels == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Omniwheel.jpg|440px|thumb|center|Figure 4: Omniwheel assembly]] | [[Image:TURTLE_Omniwheel_EV.jpg|440px|thumb|center|Figure 5: Exploded view of the omniwheel assembly]] |} Currently, custom made omniwheels are used on the Turtles. The assembly and exploded view are depicted in Figures 4 and 5 respectively. <br> The inner ring (1) from aluminum is used to support two rings of each eight rollers (2). Each ring of rollers (2) is held together using two aluminum rings (3). The left ring of rollers in Figure 5 is bolted with BS 4618 Hexagon sockets (5) on the inner ring (1), while the right ring of rollers is bolted with BS 4618 Hexagon sockets (5) on the aluminum outer ring (4). The total omniwheel is assembled by bolting the outer ring (4) to the innner ring (1) using ISO 4762 M3 x 16 Allen bolts (6). <br> One smaller roller is fitted with three O-rings; two 16 mm inner diameter O-rings on the outside and one 17 mm inner diameter O-ring in the middle. Two needle roller bearings (INA HK0609) are placed inside each roller on a 6 x 32 mm shaft to ensure smooth rolling. At the start and the end of the shaft, 12 x 6 mm shims with a thickness of 0.5 mm are used as spacers. = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 727 2013-02-20T09:44:39Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff Ethercat stack, Batteries, High Voltage Supply, Motors, Amplifiers and other electronic devices. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]] = Mechanics = === Base === [[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]] Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br> The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br> Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br> An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the rear omniwheel. <br> Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br> On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with shafts from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br> Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br> Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section. == Electronic Components Mounted on the Base Frame == [[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]] Figure 3 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br> 1. 2 x Makita Ni-MH (BH2433) batteries. <br> 2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br> 3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br> The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br> 4. 2 x Battery connector <br> 5. 2 x Battery PCB (see electronics section for more details) <br> 6. DC–DC PCB (see electronics section for more details) <br> 7. Power supply PCB (see electronics section for more details) <br> 8. EtherCAT stack <br> 9. Shooting PCB (see electronics section for more details)<br> 10. High voltage unit <br> 11. PCB high voltage unit <br> 12. Potentiometer for angle measurement of ball receivers: Vishay 971-0002 Rotary position sensor, 5 kOhm <br> == Omniwheels == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Omniwheel.jpg|440px|thumb|center|Figure 4: Omniwheel assembly]] | [[Image:TURTLE_Omniwheel_EV.jpg|440px|thumb|center|Figure 5: Exploded view of the omniwheel assembly]] |} Currently, custom made omniwheels are used on the Turtles. The assembly and exploded view are depicted in Figures 4 and 5 respectively. <br> The inner ring (1) from aluminum is used to support two rings of each eight rollers (2). Each ring of rollers (2) is held together using two aluminum rings (3). The left ring of rollers in Figure 5 is bolted with BS 4618 Hexagon sockets (5) on the inner ring (1), while the right ring of rollers is bolted with BS 4618 Hexagon sockets (5) on the aluminum outer ring (4). The total omniwheel is assembled by bolting the outer ring (4) to the innner ring (1) using ISO 4762 M3 x 16 Allen bolts (6). <br> One smaller roller is fitted with three O-rings; two 16 mm inner diameter O-rings on the outside and one 17 mm inner diameter O-ring in the middle. Two needle roller bearings (INA HK0609) are placed inside each roller on a 6 x 32 mm shaft to ensure smooth rolling. At the start and the end of the shaft, 12 x 6 mm shims with a thickness of 0.5 mm are used as spacers. = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 744 2013-02-27T11:35:40Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff Ethercat stack, Batteries, High Voltage Supply, Motors, Amplifiers and other electronic devices. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]] = Mechanics = === Base === [[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]] Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br> The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br> Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br> An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the rear omniwheel. <br> Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br> On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with shafts from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br> Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br> Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section. == Electronic Components Mounted on the Base Frame == [[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]] Figure 3 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br> 1. 2 x Makita Ni-MH (BH2433) batteries. <br> 2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br> 3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br> The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br> 4. 2 x Battery connector <br> 5. 2 x Battery PCB (see electronics section for more details) <br> 6. DC–DC PCB (see electronics section for more details) <br> 7. Power supply PCB (see electronics section for more details) <br> 8. EtherCAT stack <br> 9. Shooting PCB (see electronics section for more details)<br> 10. High voltage unit <br> 11. PCB high voltage unit <br> 12. Potentiometer for angle measurement of ball receivers: Vishay 971-0002 Rotary position sensor, 5 kOhm <br> == Omniwheels == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Omniwheel.jpg|440px|thumb|center|Figure 4: Omniwheel assembly]] | [[Image:TURTLE_Omniwheel_EV.jpg|440px|thumb|center|Figure 5: Exploded view of the omniwheel assembly]] |} Currently, custom made omniwheels are used on the Turtles. The assembly and exploded view are depicted in Figures 4 and 5 respectively. <br> The inner ring (1) from aluminum is used to support two rings of each eight rollers (2). Each ring of rollers (2) is held together using two aluminum rings (3). The left ring of rollers in Figure 5 is bolted with BS 4618 Hexagon sockets (5) on the inner ring (1), while the right ring of rollers is bolted with BS 4618 Hexagon sockets (5) on the aluminum outer ring (4). The total omniwheel is assembled by bolting the outer ring (4) to the innner ring (1) using ISO 4762 M3 x 16 Allen bolts (6). <br> One smaller roller is fitted with three O-rings; two 16 mm inner diameter O-rings on the outside and one 17 mm inner diameter O-ring in the middle. Two needle roller bearings (INA HK0609) are placed inside each roller on a 6 x 32 mm shaft to ensure smooth rolling. At the start and the end of the shaft, 12 x 6 mm shims with a thickness of 0.5 mm are used as spacers. = Electronics = ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 749 2013-02-27T11:37:58Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff Ethercat stack, Batteries, High Voltage Supply, Motors, Amplifiers and other electronic devices. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]] = Mechanics = === Base === [[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]] Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br> The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br> Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br> An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the rear omniwheel. <br> Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br> On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with shafts from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br> Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br> Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section. == Electronic Components Mounted on the Base Frame == [[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]] Figure 3 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br> 1. 2 x Makita Ni-MH (BH2433) batteries. <br> 2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br> 3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br> The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br> 4. 2 x Battery connector <br> 5. 2 x Battery PCB (see electronics section for more details) <br> 6. DC–DC PCB (see electronics section for more details) <br> 7. Power supply PCB (see electronics section for more details) <br> 8. EtherCAT stack <br> 9. Shooting PCB (see electronics section for more details)<br> 10. High voltage unit <br> 11. PCB high voltage unit <br> 12. Potentiometer for angle measurement of ball receivers: Vishay 971-0002 Rotary position sensor, 5 kOhm <br> == Omniwheels == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Omniwheel.jpg|440px|thumb|center|Figure 4: Omniwheel assembly]] | [[Image:TURTLE_Omniwheel_EV.jpg|440px|thumb|center|Figure 5: Exploded view of the omniwheel assembly]] |} Currently, custom made omniwheels are used on the Turtles. The assembly and exploded view are depicted in Figures 4 and 5 respectively. <br> The inner ring (1) from aluminum is used to support two rings of each eight rollers (2). Each ring of rollers (2) is held together using two aluminum rings (3). The left ring of rollers in Figure 5 is bolted with BS 4618 Hexagon sockets (5) on the inner ring (1), while the right ring of rollers is bolted with BS 4618 Hexagon sockets (5) on the aluminum outer ring (4). The total omniwheel is assembled by bolting the outer ring (4) to the innner ring (1) using ISO 4762 M3 x 16 Allen bolts (6). <br> One smaller roller is fitted with three O-rings; two 16 mm inner diameter O-rings on the outside and one 17 mm inner diameter O-ring in the middle. Two needle roller bearings (INA HK0609) are placed inside each roller on a 6 x 32 mm shaft to ensure smooth rolling. At the start and the end of the shaft, 12 x 6 mm shims with a thickness of 0.5 mm are used as spacers. = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 791 2014-02-03T13:58:28Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff Ethercat stack, Batteries, High Voltage Supply, Motors, Amplifiers and other electronic devices. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]] = Mechanics = === Base === [[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]] Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br> The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br> Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br> An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the rear omniwheel. <br> Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br> On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with shafts from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br> Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br> Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section. == Electronic Components Mounted on the Base Frame == [[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]] Figure 3 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br> 1. 2 x Makita Ni-MH (BH2433) batteries. <br> 2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br> 3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br> The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br> 4. 2 x Battery connector <br> 5. 2 x Battery PCB (see electronics section for more details) <br> 6. DC–DC PCB (see electronics section for more details) <br> 7. Power supply PCB (see electronics section for more details) <br> 8. EtherCAT stack <br> 9. Shooting PCB (see electronics section for more details)<br> 10. High voltage unit <br> 11. PCB high voltage unit <br> 12. Potentiometer for angle measurement of ball receivers: Vishay 971-0002 Rotary position sensor, 5 kOhm <br> == Omniwheels == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Omniwheel.jpg|440px|thumb|center|Figure 4: Omniwheel assembly]] | [[Image:TURTLE_Omniwheel_EV.jpg|440px|thumb|center|Figure 5: Exploded view of the omniwheel assembly]] |} Currently, custom made omniwheels are used on the Turtles. The assembly and exploded view are depicted in Figures 4 and 5 respectively. <br> The inner ring (1) from aluminum is used to support two rings of each eight rollers (2). Each ring of rollers (2) is held together using two aluminum rings (3). The left ring of rollers in Figure 5 is bolted with BS 4618 Hexagon sockets (5) on the inner ring (1), while the right ring of rollers is bolted with BS 4618 Hexagon sockets (5) on the aluminum outer ring (4). The total omniwheel is assembled by bolting the outer ring (4) to the innner ring (1) using ISO 4762 M3 x 16 Allen bolts (6). <br> One smaller roller is fitted with three O-rings; two 16 mm inner diameter O-rings on the outside and one 17 mm inner diameter O-ring in the middle. Two needle roller bearings (INA HK0609) are placed inside each roller on a 6 x 32 mm shaft to ensure smooth rolling. At the start and the end of the shaft, 12 x 6 mm shims with a thickness of 0.5 mm are used as spacers. = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 795 2014-02-03T15:41:27Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff Ethercat stack, Batteries, High Voltage Supply, Motors, Amplifiers and other electronic devices. * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]] = Mechanics = === Base === [[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]] Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br> The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br> Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br> An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the rear omniwheel. <br> Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br> On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with shafts from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br> Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br> Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section. == Electronic Components Mounted on the Base Frame == [[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]] Figure 3 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br> 1. 2 x Makita Ni-MH (BH2433) batteries. <br> 2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br> 3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br> The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br> 4. 2 x Battery connector <br> 5. 2 x Battery PCB (see electronics section for more details) <br> 6. DC–DC PCB (see electronics section for more details) <br> 7. Power supply PCB (see electronics section for more details) <br> 8. EtherCAT stack <br> 9. Shooting PCB (see electronics section for more details)<br> 10. High voltage unit <br> 11. PCB high voltage unit <br> 12. Potentiometer for angle measurement of ball receivers: Vishay 971-0002 Rotary position sensor, 5 kOhm <br> == Omniwheels == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Omniwheel.jpg|440px|thumb|center|Figure 4: Omniwheel assembly]] | [[Image:TURTLE_Omniwheel_EV.jpg|440px|thumb|center|Figure 5: Exploded view of the omniwheel assembly]] |} Currently, custom made omniwheels are used on the Turtles. The assembly and exploded view are depicted in Figures 4 and 5 respectively. <br> The inner ring (1) from aluminum is used to support two rings of each eight rollers (2). Each ring of rollers (2) is held together using two aluminum rings (3). The left ring of rollers in Figure 5 is bolted with BS 4618 Hexagon sockets (5) on the inner ring (1), while the right ring of rollers is bolted with BS 4618 Hexagon sockets (5) on the aluminum outer ring (4). The total omniwheel is assembled by bolting the outer ring (4) to the innner ring (1) using ISO 4762 M3 x 16 Allen bolts (6). <br> One smaller roller is fitted with three O-rings; two 16 mm inner diameter O-rings on the outside and one 17 mm inner diameter O-ring in the middle. Two needle roller bearings (INA HK0609) are placed inside each roller on a 6 x 32 mm shaft to ensure smooth rolling. At the start and the end of the shaft, 12 x 6 mm shims with a thickness of 0.5 mm are used as spacers. = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 804 2014-02-03T15:45:26Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff Ethercat stack, Batteries, High Voltage Supply, Motors, Amplifiers and other electronic devices. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]] = Mechanics = === Base === [[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]] Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br> The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br> Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br> An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the rear omniwheel. <br> Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br> On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with shafts from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br> Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br> Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section. == Electronic Components Mounted on the Base Frame == [[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]] Figure 3 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br> 1. 2 x Makita Ni-MH (BH2433) batteries. <br> 2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br> 3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br> The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br> 4. 2 x Battery connector <br> 5. 2 x Battery PCB (see electronics section for more details) <br> 6. DC–DC PCB (see electronics section for more details) <br> 7. Power supply PCB (see electronics section for more details) <br> 8. EtherCAT stack <br> 9. Shooting PCB (see electronics section for more details)<br> 10. High voltage unit <br> 11. PCB high voltage unit <br> 12. Potentiometer for angle measurement of ball receivers: Vishay 971-0002 Rotary position sensor, 5 kOhm <br> == Omniwheels == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Omniwheel.jpg|440px|thumb|center|Figure 4: Omniwheel assembly]] | [[Image:TURTLE_Omniwheel_EV.jpg|440px|thumb|center|Figure 5: Exploded view of the omniwheel assembly]] |} Currently, custom made omniwheels are used on the Turtles. The assembly and exploded view are depicted in Figures 4 and 5 respectively. <br> The inner ring (1) from aluminum is used to support two rings of each eight rollers (2). Each ring of rollers (2) is held together using two aluminum rings (3). The left ring of rollers in Figure 5 is bolted with BS 4618 Hexagon sockets (5) on the inner ring (1), while the right ring of rollers is bolted with BS 4618 Hexagon sockets (5) on the aluminum outer ring (4). The total omniwheel is assembled by bolting the outer ring (4) to the innner ring (1) using ISO 4762 M3 x 16 Allen bolts (6). <br> One smaller roller is fitted with three O-rings; two 16 mm inner diameter O-rings on the outside and one 17 mm inner diameter O-ring in the middle. Two needle roller bearings (INA HK0609) are placed inside each roller on a 6 x 32 mm shaft to ensure smooth rolling. At the start and the end of the shaft, 12 x 6 mm shims with a thickness of 0.5 mm are used as spacers. = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1035 2020-03-25T07:28:10Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Part Summary = The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff Ethercat stack, Batteries, High Voltage Supply, Motors, Amplifiers and other electronic devices. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]] = Mechanics = === Base === [[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]] Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br> The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br> Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br> An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the rear omniwheel. <br> Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br> On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with shafts from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br> Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br> Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section. == Electronic Components Mounted on the Base Frame == [[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]] Figure 3 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br> 1. 2 x Makita Ni-MH (BH2433) batteries. <br> 2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br> 3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br> The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br> 4. 2 x Battery connector <br> 5. 2 x Battery PCB (see electronics section for more details) <br> 6. DC–DC PCB (see electronics section for more details) <br> 7. Power supply PCB (see electronics section for more details) <br> 8. EtherCAT stack <br> 9. Shooting PCB (see electronics section for more details)<br> 10. High voltage unit <br> 11. PCB high voltage unit <br> 12. Potentiometer for angle measurement of ball receivers: Vishay 971-0002 Rotary position sensor, 5 kOhm <br> == Omniwheels == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Omniwheel.jpg|440px|thumb|center|Figure 4: Omniwheel assembly]] | [[Image:TURTLE_Omniwheel_EV.jpg|440px|thumb|center|Figure 5: Exploded view of the omniwheel assembly]] |} Currently, custom made omniwheels are used on the Turtles. The assembly and exploded view are depicted in Figures 4 and 5 respectively. <br> The inner ring (1) from aluminum is used to support two rings of each eight rollers (2). Each ring of rollers (2) is held together using two aluminum rings (3). The left ring of rollers in Figure 5 is bolted with BS 4618 Hexagon sockets (5) on the inner ring (1), while the right ring of rollers is bolted with BS 4618 Hexagon sockets (5) on the aluminum outer ring (4). The total omniwheel is assembled by bolting the outer ring (4) to the innner ring (1) using ISO 4762 M3 x 16 Allen bolts (6). <br> One smaller roller is fitted with three O-rings; two 16 mm inner diameter O-rings on the outside and one 17 mm inner diameter O-ring in the middle. Two needle roller bearings (INA HK0609) are placed inside each roller on a 6 x 32 mm shaft to ensure smooth rolling. At the start and the end of the shaft, 12 x 6 mm shims with a thickness of 0.5 mm are used as spacers. = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1036 2020-03-25T07:28:56Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Part Summary = The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff Ethercat stack, Batteries, High Voltage Supply, Motors, Amplifiers and other electronic devices. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]] = Mechanics = === Base === [[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]] Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br> The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br> Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br> An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the rear omniwheel. <br> Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br> On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with shafts from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br> Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br> Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section. == Electronic Components Mounted on the Base Frame == [[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]] Figure 3 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br> 1. 2 x Makita Ni-MH (BH2433) batteries. <br> 2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br> 3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br> The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br> 4. 2 x Battery connector <br> 5. 2 x Battery PCB (see electronics section for more details) <br> 6. DC–DC PCB (see electronics section for more details) <br> 7. Power supply PCB (see electronics section for more details) <br> 8. EtherCAT stack <br> 9. Shooting PCB (see electronics section for more details)<br> 10. High voltage unit <br> 11. PCB high voltage unit <br> 12. Potentiometer for angle measurement of ball receivers: Vishay 971-0002 Rotary position sensor, 5 kOhm <br> == Omniwheels == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Omniwheel.jpg|440px|thumb|center|Figure 4: Omniwheel assembly]] | [[Image:TURTLE_Omniwheel_EV.jpg|440px|thumb|center|Figure 5: Exploded view of the omniwheel assembly]] |} Currently, custom made omniwheels are used on the Turtles. The assembly and exploded view are depicted in Figures 4 and 5 respectively. <br> The inner ring (1) from aluminum is used to support two rings of each eight rollers (2). Each ring of rollers (2) is held together using two aluminum rings (3). The left ring of rollers in Figure 5 is bolted with BS 4618 Hexagon sockets (5) on the inner ring (1), while the right ring of rollers is bolted with BS 4618 Hexagon sockets (5) on the aluminum outer ring (4). The total omniwheel is assembled by bolting the outer ring (4) to the innner ring (1) using ISO 4762 M3 x 16 Allen bolts (6). <br> One smaller roller is fitted with three O-rings; two 16 mm inner diameter O-rings on the outside and one 17 mm inner diameter O-ring in the middle. Two needle roller bearings (INA HK0609) are placed inside each roller on a 6 x 32 mm shaft to ensure smooth rolling. At the start and the end of the shaft, 12 x 6 mm shims with a thickness of 0.5 mm are used as spacers. = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1040 2020-03-25T07:33:26Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Part Summary = The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff Ethercat stack, Batteries, High Voltage Supply, Motors, Amplifiers and other electronic devices. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]] = Mechanics = === Base === [[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]] Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br> The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br> Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br> An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the rear omniwheel. <br> Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br> On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with shafts from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br> Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br> Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section. == Electronic Components Mounted on the Base Frame == [[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]] Figure 3 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br> 1. 2 x Makita Ni-MH (BH2433) batteries. <br> 2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br> 3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br> The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br> 4. 2 x Battery connector <br> 5. 2 x Battery PCB (see electronics section for more details) <br> 6. DC–DC PCB (see electronics section for more details) <br> 7. Power supply PCB (see electronics section for more details) <br> 8. EtherCAT stack <br> 9. Shooting PCB (see electronics section for more details)<br> 10. High voltage unit <br> 11. PCB high voltage unit <br> 12. Potentiometer for angle measurement of ball receivers: Vishay 971-0002 Rotary position sensor, 5 kOhm <br> == Omniwheels == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Omniwheel.jpg|440px|thumb|center|Figure 4: Omniwheel assembly]] | [[Image:TURTLE_Omniwheel_EV.jpg|440px|thumb|center|Figure 5: Exploded view of the omniwheel assembly]] |} Currently, custom made omniwheels are used on the Turtles. The assembly and exploded view are depicted in Figures 4 and 5 respectively. <br> The inner ring (1) from aluminum is used to support two rings of each eight rollers (2). Each ring of rollers (2) is held together using two aluminum rings (3). The left ring of rollers in Figure 5 is bolted with BS 4618 Hexagon sockets (5) on the inner ring (1), while the right ring of rollers is bolted with BS 4618 Hexagon sockets (5) on the aluminum outer ring (4). The total omniwheel is assembled by bolting the outer ring (4) to the innner ring (1) using ISO 4762 M3 x 16 Allen bolts (6). <br> One smaller roller is fitted with three O-rings; two 16 mm inner diameter O-rings on the outside and one 17 mm inner diameter O-ring in the middle. Two needle roller bearings (INA HK0609) are placed inside each roller on a 6 x 32 mm shaft to ensure smooth rolling. At the start and the end of the shaft, 12 x 6 mm shims with a thickness of 0.5 mm are used as spacers. = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1074 2020-03-26T08:58:12Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Part Summary = The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff Ethercat stack, Batteries, High Voltage Supply, Motors, Amplifiers and other electronic devices. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]] = Mechanics = === Base === [[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]] Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br> The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br> Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br> An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the rear omniwheel. <br> Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br> On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with shafts from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br> Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br> Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section. == Electronic Components Mounted on the Base Frame == [[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]] Figure 3 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br> 1. 2 x Makita Ni-MH (BH2433) batteries. <br> 2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br> 3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br> The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br> 4. 2 x Battery connector <br> 5. 2 x Battery PCB (see electronics section for more details) <br> 6. DC–DC PCB (see electronics section for more details) <br> 7. Power supply PCB (see electronics section for more details) <br> 8. EtherCAT stack <br> 9. Shooting PCB (see electronics section for more details)<br> 10. High voltage unit <br> 11. PCB high voltage unit <br> 12. Potentiometer for angle measurement of ball receivers: Vishay 971-0002 Rotary position sensor, 5 kOhm <br> == Omniwheels == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Omniwheel.jpg|440px|thumb|center|Figure 4: Omniwheel assembly]] | [[Image:TURTLE_Omniwheel_EV.jpg|440px|thumb|center|Figure 5: Exploded view of the omniwheel assembly]] |} Currently, custom made omniwheels are used on the Turtles. The assembly and exploded view are depicted in Figures 4 and 5 respectively. <br> The inner ring (1) from aluminum is used to support two rings of each eight rollers (2). Each ring of rollers (2) is held together using two aluminum rings (3). The left ring of rollers in Figure 5 is bolted with BS 4618 Hexagon sockets (5) on the inner ring (1), while the right ring of rollers is bolted with BS 4618 Hexagon sockets (5) on the aluminum outer ring (4). The total omniwheel is assembled by bolting the outer ring (4) to the innner ring (1) using ISO 4762 M3 x 16 Allen bolts (6). <br> One smaller roller is fitted with three O-rings; two 16 mm inner diameter O-rings on the outside and one 17 mm inner diameter O-ring in the middle. Two needle roller bearings (INA HK0609) are placed inside each roller on a 6 x 32 mm shaft to ensure smooth rolling. At the start and the end of the shaft, 12 x 6 mm shims with a thickness of 0.5 mm are used as spacers. = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1100 2022-08-11T12:45:20Z Fruitcake 1 Update new ROP repository location {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE/Electrical%20Designs/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/Turtle3 Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Part Summary = The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff Ethercat stack, Batteries, High Voltage Supply, Motors, Amplifiers and other electronic devices. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE] * Software: [https://gitlab.tue.nl/tech-united-eindhoven/Turtle3 https://gitlab.tue.nl/tech-united-eindhoven/Turtle3] = Overview = Figure 1 shows the CAD model of the fully assembled base. [[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]] = Mechanics = === Base === [[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]] Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br> The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br> Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br> An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the rear omniwheel. <br> Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br> On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with shafts from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br> Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br> Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section. == Electronic Components Mounted on the Base Frame == [[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]] Figure 3 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br> 1. 2 x Makita Ni-MH (BH2433) batteries. <br> 2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br> 3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br> The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br> 4. 2 x Battery connector <br> 5. 2 x Battery PCB (see electronics section for more details) <br> 6. DC–DC PCB (see electronics section for more details) <br> 7. Power supply PCB (see electronics section for more details) <br> 8. EtherCAT stack <br> 9. Shooting PCB (see electronics section for more details)<br> 10. High voltage unit <br> 11. PCB high voltage unit <br> 12. Potentiometer for angle measurement of ball receivers: Vishay 971-0002 Rotary position sensor, 5 kOhm <br> == Omniwheels == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Omniwheel.jpg|440px|thumb|center|Figure 4: Omniwheel assembly]] | [[Image:TURTLE_Omniwheel_EV.jpg|440px|thumb|center|Figure 5: Exploded view of the omniwheel assembly]] |} Currently, custom made omniwheels are used on the Turtles. The assembly and exploded view are depicted in Figures 4 and 5 respectively. <br> The inner ring (1) from aluminum is used to support two rings of each eight rollers (2). Each ring of rollers (2) is held together using two aluminum rings (3). The left ring of rollers in Figure 5 is bolted with BS 4618 Hexagon sockets (5) on the inner ring (1), while the right ring of rollers is bolted with BS 4618 Hexagon sockets (5) on the aluminum outer ring (4). The total omniwheel is assembled by bolting the outer ring (4) to the innner ring (1) using ISO 4762 M3 x 16 Allen bolts (6). <br> One smaller roller is fitted with three O-rings; two 16 mm inner diameter O-rings on the outside and one 17 mm inner diameter O-ring in the middle. Two needle roller bearings (INA HK0609) are placed inside each roller on a 6 x 32 mm shaft to ensure smooth rolling. At the start and the end of the shaft, 12 x 6 mm shims with a thickness of 0.5 mm are used as spacers. = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 245 969 2014-07-21T12:32:25Z Tmhafkamp 53 Created page with "{| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey..." {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 972 2014-07-21T12:35:47Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 973 2014-07-21T12:36:36Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 974 2014-07-21T12:37:06Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/IGES/ IGES] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 975 2014-07-21T12:37:27Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/IGES/ IGES] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 976 2014-07-21T12:38:23Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/IGES/ IGES] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:TURTLE Goalkeeper Front.jpg|400px|thumb|center|Figure 1: TURTLE Goalkeeper]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 977 2014-07-21T13:32:37Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/IGES/ IGES] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Keeper.jpg|400px|thumb|center|Figure 1: TURTLE Goalkeeper]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 978 2014-07-21T13:32:57Z Tmhafkamp 53 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/IGES/ IGES] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Keeper.jpg|400px|thumb|center|Figure 1: TURTLE Goalkeeper]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:TURTLE Goalkeeper Front.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]] = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 979 2014-07-21T13:33:25Z Tmhafkamp 53 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/IGES/ IGES] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Keeper.jpg|400px|thumb|center|Figure 1: TURTLE Goalkeeper]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:TURTLE Goalkeeper Front.jpg|400px|thumb|center|Figure 2: CAD render TURTLE Goalkeeper front view]] = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 980 2014-07-21T13:34:25Z Tmhafkamp 53 /* Robot Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/IGES/ IGES] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Keeper.jpg|400px|thumb|center|Figure 1: TURTLE Goalkeeper]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections. <br> In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately: 1. [[TURTLE Base|The base]] <br> 2. [[TURTLE Upper Body|The upper body]] <br> 3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br> [[Image:TURTLE Goalkeeper Front.jpg|400px|thumb|center|Figure 2: CAD render TURTLE Goalkeeper front view]] = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 987 2014-07-21T13:45:23Z Tmhafkamp 53 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/IGES/ IGES] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Keeper.jpg|400px|thumb|center|Figure 1: TURTLE Goalkeeper]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. [[Image:TURTLE Goalkeeper Front.jpg|400px|thumb|center|Figure 2: CAD render TURTLE Goalkeeper front view]] = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 988 2014-07-21T13:46:37Z Tmhafkamp 53 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/IGES/ IGES] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Keeper.jpg|400px|thumb|center|Figure 1: TURTLE Goalkeeper]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the [[TURTLE|TURTLE field players]] can be used as a keeper with minor attachments. [[Image:TURTLE Goalkeeper Front.jpg|400px|thumb|center|Figure 2: CAD render TURTLE Goalkeeper front view]] = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 990 2014-07-21T13:48:13Z Tmhafkamp 53 /* Overview */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/IGES/ IGES] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Keeper.jpg|400px|thumb|center|Figure 1: TURTLE Goalkeeper]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the [[TURTLE|TURTLE field players]] can be used as a keeper with minor attachments. [[Image:TURTLE Goalkeeper Front.jpg|300px|thumb|center|Figure 2: CAD render TURTLE Goalkeeper front view]] = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1038 2020-03-25T07:31:29Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/IGES/ IGES] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Keeper.jpg|400px|thumb|center|Figure 1: TURTLE Goalkeeper]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the [[TURTLE|TURTLE field players]] can be used as a keeper with minor attachments. [[Image:TURTLE Goalkeeper Front.jpg|300px|thumb|center|Figure 2: CAD render TURTLE Goalkeeper front view]] = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1044 2020-03-25T07:39:29Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/IGES/ IGES] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [https://msl.robocup.org/ RoboCup Middle Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Keeper.jpg|400px|thumb|center|Figure 1: TURTLE Goalkeeper]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the [[TURTLE|TURTLE field players]] can be used as a keeper with minor attachments. [[Image:TURTLE Goalkeeper Front.jpg|300px|thumb|center|Figure 2: CAD render TURTLE Goalkeeper front view]] = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1071 2020-03-26T08:56:14Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/IGES/ IGES] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Robot Summary = TURTLEs are the football robots that compete in the [https://msl.robocup.org/ RoboCup Middle Size League] for [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] [[Image:Keeper.jpg|400px|thumb|center|Figure 1: TURTLE Goalkeeper]] = Overview = TURTLE is an acronym for Tech United Robocup Team: Limited Edition. The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the [[TURTLE|TURTLE field players]] can be used as a keeper with minor attachments. [[Image:TURTLE Goalkeeper Front.jpg|300px|thumb|center|Figure 2: CAD render TURTLE Goalkeeper front view]] = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 156 597 2012-09-11T19:04:29Z J Bos 45 Created page with "{| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey..." {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizaltal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with bolts (ISO 4762 M5 x 12) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with a omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The ''brand and type ????'' camera (1) is fitted with a Pentax/Cosmicar TS212A lens (2). The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from ''glass/plastic??'' is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus the turtle its own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the own side of the field and the opponent side. The mirror (7) and compass (9) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to obstruct high balls. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate (4 in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel (6 in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === ''Prosilica ???'' <br> ''Lens'' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) ''(Coming soon)'' = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 610 2012-09-11T20:18:13Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizaltal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with bolts (ISO 4762 M5 x 12) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with a omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The ''brand and type ????'' camera (1) is fitted with a Pentax/Cosmicar TS212A lens (2). The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from ''glass/plastic??'' is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus the turtle its own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the own side of the field and the opponent side. The mirror (7) and compass (9) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to obstruct high balls. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate (4 in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel (6 in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === ''Prosilica ???'' <br> ''Lens'' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) == Front camera (currently not used on the field players) == VC4458 camera: <vb> Model VC-4458 Resolution 640 x 480 Sensor: 1/3" CCD Frame rate: 242 fps Shutter: 5µs - 2.2s Processor: TI 1 GHz Computational Power 8000 MIPS Digital I/Os 4 inputs, 4 outputs Video output: RS232 and 100Mbit Ethernet Dimensions: Approx. 110 x 80 x 35 mm, Weight: approx. 500 g ''(Coming soon)'' = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 612 2012-09-11T20:19:33Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizaltal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with bolts (ISO 4762 M5 x 12) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with a omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The ''brand and type ????'' camera (1) is fitted with a Pentax/Cosmicar TS212A lens (2). The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from ''glass/plastic??'' is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus the turtle its own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the own side of the field and the opponent side. The mirror (7) and compass (9) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to obstruct high balls. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate (4 in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel (6 in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === ''Prosilica ???'' <br> ''Lens'' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) == Front camera (currently not used on the field players) == Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> ''(Coming soon)'' = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 617 2012-09-18T09:26:36Z J Bos 45 /* Vision Tube with Omnivision Camera */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizaltal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with bolts (ISO 4762 M5 x 12) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with a omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from ''glass/plastic??'' is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus the turtle its own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the own side of the field and the opponent side. The mirror (7) and compass (9) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to obstruct high balls. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate (4 in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel (6 in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === ''Prosilica ???'' <br> ''Lens'' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) == Front camera (currently not used on the field players) == Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> ''(Coming soon)'' = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 618 2012-09-18T09:31:33Z J Bos 45 /* Omnivision */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizaltal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with bolts (ISO 4762 M5 x 12) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with a omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from ''glass/plastic??'' is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus the turtle its own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the own side of the field and the opponent side. The mirror (7) and compass (9) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to obstruct high balls. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate (4 in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel (6 in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) == Front camera (currently not used on the field players) == Model VC-4458 <br> Resolution 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> ''(Coming soon)'' = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 619 2012-09-18T09:31:56Z J Bos 45 /* Front camera (currently not used on the field players) */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizaltal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with bolts (ISO 4762 M5 x 12) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with a omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from ''glass/plastic??'' is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus the turtle its own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the own side of the field and the opponent side. The mirror (7) and compass (9) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to obstruct high balls. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate (4 in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel (6 in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) == Front camera (currently not used on the field players) == '''Model: VC-4458''' <br> Resolution: 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> ''(Coming soon)'' = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 628 2012-09-18T19:04:09Z J Bos 45 /* Part Summary */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizontal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with bolts (ISO 4762 M5 x 12) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with a omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from ''glass/plastic??'' is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus the turtle its own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the own side of the field and the opponent side. The mirror (7) and compass (9) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to obstruct high balls. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate (4 in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel (6 in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) == Front camera (currently not used on the field players) == '''Model: VC-4458''' <br> Resolution: 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> ''(Coming soon)'' = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 629 2012-09-18T19:06:00Z J Bos 45 /* Upper Body Frame */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizontal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with M5 x12 bolts (ISO 4762) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with an omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from ''glass/plastic??'' is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus the turtle its own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the own side of the field and the opponent side. The mirror (7) and compass (9) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to obstruct high balls. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate (4 in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel (6 in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) == Front camera (currently not used on the field players) == '''Model: VC-4458''' <br> Resolution: 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> ''(Coming soon)'' = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 630 2012-09-18T19:20:31Z J Bos 45 /* Vision Tube with Omnivision Camera */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizontal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with M5 x12 bolts (ISO 4762) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with an omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from ''glass/plastic??'' is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus refence the turtle its own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the own side and the opponent side of the field. The mirror (7) and compass (9) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to obstruct high balls. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate (4 in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel (6 in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) == Front camera (currently not used on the field players) == '''Model: VC-4458''' <br> Resolution: 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> ''(Coming soon)'' = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 631 2012-09-18T19:23:48Z J Bos 45 /* The front camera and other electronics on the upper body */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizontal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with M5 x12 bolts (ISO 4762) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with an omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from ''glass/plastic??'' is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus refence the turtle its own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the own side and the opponent side of the field. The mirror (7) and compass (9) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to obstruct high balls. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate ( (4) in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel ( (6) in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) == Front camera (currently not used on the field players) == '''Model: VC-4458''' <br> Resolution: 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> ''(Coming soon)'' = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 632 2012-09-18T19:24:40Z J Bos 45 /* Front camera (currently not used on the field players) */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizontal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with M5 x12 bolts (ISO 4762) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with an omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from ''glass/plastic??'' is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus refence the turtle its own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the own side and the opponent side of the field. The mirror (7) and compass (9) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to obstruct high balls. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate ( (4) in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel ( (6) in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used on the field players) === '''Model: VC-4458''' <br> Resolution: 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> ''(Coming soon)'' = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 633 2012-09-18T19:30:15Z J Bos 45 /* Electronics */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizontal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with M5 x12 bolts (ISO 4762) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with an omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from ''glass/plastic??'' is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus refence the turtle its own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the own side and the opponent side of the field. The mirror (7) and compass (9) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to obstruct high balls. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate ( (4) in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel ( (6) in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used on the field players) === '''Model: VC-4458''' <br> Resolution: 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> === Computer === '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 1 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> hard disk, 2½-inch, 80 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> ''(Coming soon)'' = License = Copyright Technische Universiteit Eindhoven 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 635 2012-09-18T19:31:28Z J Bos 45 /* License */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizontal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with M5 x12 bolts (ISO 4762) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with an omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from ''glass/plastic??'' is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus refence the turtle its own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the own side and the opponent side of the field. The mirror (7) and compass (9) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to obstruct high balls. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate ( (4) in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel ( (6) in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used on the field players) === '''Model: VC-4458''' <br> Resolution: 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> === Computer === '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 1 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> hard disk, 2½-inch, 80 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 657 2012-09-24T17:57:53Z J Bos 45 /* Vision Tube with Omnivision Camera */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizontal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with M5 x12 bolts (ISO 4762) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with an omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from plexiglass is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus refer to the turtle's own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the home side and the opponent side of the field. The mirror (7) and compass (9) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to prevent (artificial) light from above to fall into the camera. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate ( (4) in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel ( (6) in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used on the field players) === '''Model: VC-4458''' <br> Resolution: 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> === Computer === '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 1 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> hard disk, 2½-inch, 80 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 659 2012-09-24T18:06:02Z J Bos 45 /* Vision Tube with Omnivision Camera */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizontal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with M5 x12 bolts (ISO 4762) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with an omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from plexiglass is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus refer to the turtle's own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the home side and the opponent side of the field. The (7) custom made mirror and (9) digital compass (CMP503) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to prevent (artificial) light from above to fall into the camera. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate ( (4) in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel ( (6) in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used on the field players) === '''Model: VC-4458''' <br> Resolution: 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> === Computer === '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 1 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> hard disk, 2½-inch, 80 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 660 2012-09-24T18:30:12Z J Bos 45 /* Vision Tube with Omnivision Camera */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizontal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with M5 x12 bolts (ISO 4762) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with an omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from plexiglass is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus refer to the turtle's own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the home side and the opponent side of the field. The (7) custom made mirror and (9) magnetic compass (Robot Electronics CMPS03) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to prevent (artificial) light from above to fall into the camera. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate ( (4) in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel ( (6) in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used on the field players) === '''Model: VC-4458''' <br> Resolution: 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> === Computer === '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 1 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> hard disk, 2½-inch, 80 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 665 2012-09-24T18:49:39Z J Bos 45 /* Computer */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizontal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with M5 x12 bolts (ISO 4762) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with an omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from plexiglass is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus refer to the turtle's own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the home side and the opponent side of the field. The (7) custom made mirror and (9) magnetic compass (Robot Electronics CMPS03) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to prevent (artificial) light from above to fall into the camera. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate ( (4) in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel ( (6) in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used on the field players) === '''Model: VC-4458''' <br> Resolution: 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> === Computer === '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 693 2012-10-01T20:37:04Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizontal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with M5 x12 bolts (ISO 4762) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with an omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from plexiglass is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus refer to the turtle's own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the home side and the opponent side of the field. The (7) custom made mirror and (9) magnetic compass (Robot Electronics CMPS03) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to prevent (artificial) light from above to fall into the camera. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate ( (4) in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel ( (6) in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used on the field players) === '''Model: VC-4458''' <br> Resolution: 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> === Computer === '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 724 2013-02-18T12:54:50Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizontal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with M5 x12 bolts (ISO 4762) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with an omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from plexiglass is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus refer to the turtle's own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the home side and the opponent side of the field. The (7) custom made mirror and (9) magnetic compass (Robot Electronics CMPS03) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to prevent (artificial) light from above to fall into the camera. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate ( (4) in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel ( (6) in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used on the field players) === '''Model: VC-4458''' <br> Resolution: 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> === Computer === '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 728 2013-02-20T09:45:00Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | ''(Coming Soon)'' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizontal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with M5 x12 bolts (ISO 4762) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with an omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from plexiglass is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus refer to the turtle's own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the home side and the opponent side of the field. The (7) custom made mirror and (9) magnetic compass (Robot Electronics CMPS03) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to prevent (artificial) light from above to fall into the camera. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate ( (4) in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel ( (6) in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used on the field players) === '''Model: VC-4458''' <br> Resolution: 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> === Computer === '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 745 2013-02-27T11:35:58Z J Bos 45 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizontal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with M5 x12 bolts (ISO 4762) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with an omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from plexiglass is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus refer to the turtle's own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the home side and the opponent side of the field. The (7) custom made mirror and (9) magnetic compass (Robot Electronics CMPS03) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to prevent (artificial) light from above to fall into the camera. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate ( (4) in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel ( (6) in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used on the field players) === '''Model: VC-4458''' <br> Resolution: 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> === Computer === '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> ''(Coming soon)'' = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 748 2013-02-27T11:37:22Z J Bos 45 /* Computer */ {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizontal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with M5 x12 bolts (ISO 4762) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with an omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from plexiglass is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus refer to the turtle's own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the home side and the opponent side of the field. The (7) custom made mirror and (9) magnetic compass (Robot Electronics CMPS03) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to prevent (artificial) light from above to fall into the camera. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate ( (4) in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel ( (6) in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used on the field players) === '''Model: VC-4458''' <br> Resolution: 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> === Computer === '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 792 2014-02-03T13:59:09Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizontal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with M5 x12 bolts (ISO 4762) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with an omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from plexiglass is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus refer to the turtle's own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the home side and the opponent side of the field. The (7) custom made mirror and (9) magnetic compass (Robot Electronics CMPS03) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to prevent (artificial) light from above to fall into the camera. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate ( (4) in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel ( (6) in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used on the field players) === '''Model: VC-4458''' <br> Resolution: 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> === Computer === '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 796 2014-02-03T15:41:43Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizontal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with M5 x12 bolts (ISO 4762) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with an omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from plexiglass is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus refer to the turtle's own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the home side and the opponent side of the field. The (7) custom made mirror and (9) magnetic compass (Robot Electronics CMPS03) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to prevent (artificial) light from above to fall into the camera. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate ( (4) in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel ( (6) in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used on the field players) === '''Model: VC-4458''' <br> Resolution: 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> === Computer === '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 805 2014-02-03T15:45:39Z Tmhafkamp 53 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizontal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [(coming soon)] * Software: [[www.ros.org|www.ros.org]] ''(Coming Soon)'' = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with M5 x12 bolts (ISO 4762) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with an omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from plexiglass is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus refer to the turtle's own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the home side and the opponent side of the field. The (7) custom made mirror and (9) magnetic compass (Robot Electronics CMPS03) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to prevent (artificial) light from above to fall into the camera. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate ( (4) in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel ( (6) in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used on the field players) === '''Model: VC-4458''' <br> Resolution: 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> === Computer === '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1037 2020-03-25T07:30:30Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizontal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with M5 x12 bolts (ISO 4762) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with an omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from plexiglass is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus refer to the turtle's own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the home side and the opponent side of the field. The (7) custom made mirror and (9) magnetic compass (Robot Electronics CMPS03) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to prevent (artificial) light from above to fall into the camera. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate ( (4) in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel ( (6) in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used on the field players) === '''Model: VC-4458''' <br> Resolution: 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> === Computer === '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1041 2020-03-25T07:33:40Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizontal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with M5 x12 bolts (ISO 4762) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with an omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from plexiglass is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus refer to the turtle's own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the home side and the opponent side of the field. The (7) custom made mirror and (9) magnetic compass (Robot Electronics CMPS03) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to prevent (artificial) light from above to fall into the camera. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate ( (4) in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel ( (6) in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used on the field players) === '''Model: VC-4458''' <br> Resolution: 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> === Computer === '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1073 2020-03-26T08:57:23Z Whoutman 74 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizontal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE] * Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/] = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with M5 x12 bolts (ISO 4762) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with an omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from plexiglass is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus refer to the turtle's own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the home side and the opponent side of the field. The (7) custom made mirror and (9) magnetic compass (Robot Electronics CMPS03) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to prevent (artificial) light from above to fall into the camera. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate ( (4) in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel ( (6) in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used on the field players) === '''Model: VC-4458''' <br> Resolution: 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> === Computer === '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 1101 2022-08-11T12:46:50Z Fruitcake 1 Update new ROP repository location {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE/ Inventor] |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE/STEP Step] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/Turtle3 Software] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts''' |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] |- | style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files] |- |} [[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]] __TOC__ = Part Summary = The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizontal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup. <br> * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/TURTLE] * Software: [https://gitlab.tue.nl/tech-united-eindhoven/Turtle3 https://gitlab.tue.nl/tech-united-eindhoven/Turtle3] = Overview = Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly. {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]] | [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]] |} = Mechanics = == Upper Body Frame == [[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]] [[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]] Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br> The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with M5 x12 bolts (ISO 4762) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3). <br> To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with an omnivision camera disk plate (5) from AL51-ST. <br> On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3). <br> == Vision Tube with Omnivision Camera == {| style="background: transparent; margin: auto;" | [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]] | [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]] |} Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br> The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from plexiglass is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts. <br> The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus refer to the turtle's own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the home side and the opponent side of the field. The (7) custom made mirror and (9) magnetic compass (Robot Electronics CMPS03) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to prevent (artificial) light from above to fall into the camera. == The front camera and other electronics on the upper body == [[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]] A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br> The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate ( (4) in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST. <br> The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it! <br> The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4). <br> Finally, switches (8) are assembled on the switches panel ( (6) in Figures 3 and 4) to complete the upper body structure. = Electronics = === Omnivision === '''Prosilica GC750C''' <br> Interface: IEEE 802.3 1000baseT <br> Resolution: 752 x 480 <br> Sensor: Micron/Aptina MT9V022 <br> Sensor type: CMOS Progressive <br> Sensor size: Type 1/3 <br> Cell size: 6 µm <br> Lens mount: CS <br> Max frame rate at full resolution: 60 fps <br> A/D: 10 bit <br> On-board FIFO: 16 MB <br> Power requirements (DC): 5-16 V <br> Power consumption (12 V): 2.2 W <br> Mass: 85 g <br> Body Dimensions (L x W x H in mm): 45x46x33 <br> '''Lens''' <br> Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br> 2.8 mm focal length; 1:1.2 CS (iris range) === Front camera (currently not used on the field players) === '''Model: VC-4458''' <br> Resolution: 640 x 480 <br> Sensor: 1/3" CCD <br> Frame rate: 242 fps <br> Shutter: 5µs - 2.2s <br> Processor: TI 1 GHz <br> Computational Power 8000 MIPS <br> Digital I/Os 4 inputs, 4 outputs <br> Video output: RS232 and 100Mbit Ethernet <br> Dimensions: Approx. 110 x 80 x 35 mm, <br> Weight: approx. 500 g <br> === Computer === '''Industrial Beckhoff PC C6920-0010''' <br> Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br> 3½-inch motherboard <br> 1 Mini PCI slot free for cards installed ex factory <br> 2 GB DDR2RAM, expandable ex factory to 3 GB <br> on-board graphic adapter, Intel® GMA950, DVI-I connector <br> on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> 8 GB Flash drive <br> disk, 2½-inch, 40 GB <br> 1 serial port RS232 and 4 USB 2.0 ports <br> 24 V DC power supply <br> weight of 1.9 kg (4.2 lbs) <br> = License = Copyright Eindhoven University of Technology 2012. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. 117 536 2012-02-03T08:57:51Z P.M.G. Metsemakers 2 Created page with "= [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cos..." = [[Thymio II|'''Thymio II''']] = {|style="width: 100%" | [[Image:ThymioII.jpg|200px|thumb|right|Figure 4: Thymio II]] [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. [http://aseba.wikidot.com/en:thymio Thymio II] * Author: [http://mobots.epfl.ch/ EPFL-Mobots] and [http://www.ecal.ch ECAL] and [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Parts: [http://aseba.wikidot.com/thymiohardwaresource hardware] and [http://aseba.wikidot.com/thymiosourcecode source code] |} 538 2012-02-03T09:22:19Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://mobots.epfl.ch/ EPFL-Mobots] |- | style="background:white; color:black;" align="left" | [http://www.ecal.ch ECAL] |- | style="background:white; color:black;" align="left" | [http://mobsya.org mobsya] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [http://aseba.wikidot.com/local--files/thymiohardwaresource/thymioII_3D_ProE_110324.zip ProE] |- | style="background:white; color:black;" align="left" | [http://aseba.wikidot.com/local--files/thymiohardwaresource/thymioII_3D_step_110324.zip STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [http://aseba.wikidot.com/local--files/thymiohardwaresource/Thymio2-Electronics.pdf pdf |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] |- |} [[Thymio II|Thymio II]]: [https://aseba.wikidot.com/thymiohardwaresource Build a Thymio II] __TOC__ = Robot Summary = [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Author: [http://mobots.epfl.ch/ EPFL-Mobots] and [http://www.ecal.ch ECAL] and [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Hardware: [http://aseba.wikidot.com/thymiohardwaresource CAD files and electronics schematics] * Software: [http://aseba.wikidot.com/thymiosourcecode Source code] __TOC__ [[Image:ThymioII.jpg|400px|thumb|center|Figure 1: Thymio II]] = Overview = The Thymio II is an affordable educational robot. It provides three main features: * a large amount of sensors and actuators, * a specific interactivity based on light and touch, aimed at increasing the understanding of the robot functionalities, * a very efficient programming environment based on Aseba. 539 2012-02-03T09:24:47Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://mobots.epfl.ch/ EPFL-Mobots] |- | style="background:white; color:black;" align="left" | [http://www.ecal.ch ECAL] |- | style="background:white; color:black;" align="left" | [http://mobsya.org mobsya] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [http://aseba.wikidot.com/local--files/thymiohardwaresource/thymioII_3D_ProE_110324.zip ProE] |- | style="background:white; color:black;" align="left" | [http://aseba.wikidot.com/local--files/thymiohardwaresource/thymioII_3D_step_110324.zip STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [http://aseba.wikidot.com/local--files/thymiohardwaresource/Thymio2-Electronics.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] |- |} [[Thymio II|Thymio II]]: [https://aseba.wikidot.com/thymiohardwaresource Build a Thymio II] __TOC__ = Robot Summary = [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Author: [http://mobots.epfl.ch/ EPFL-Mobots] and [http://www.ecal.ch ECAL] and [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Hardware: [http://aseba.wikidot.com/thymiohardwaresource CAD files and electronics schematics] * Software: [http://aseba.wikidot.com/thymiosourcecode Source code] __TOC__ [[Image:ThymioII.jpg|400px|thumb|center|Figure 1: Thymio II]] = Overview = The Thymio II is an affordable educational robot. It provides three main features: * a large amount of sensors and actuators, * a specific interactivity based on light and touch, aimed at increasing the understanding of the robot functionalities, * a very efficient [https://aseba.wikidot.com/en:thymioprogram programming] environment based on [http://aseba.wikidot.com Aseba]. 542 2012-02-03T09:26:59Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://mobots.epfl.ch/ EPFL-Mobots] |- | style="background:white; color:black;" align="left" | [http://www.ecal.ch ECAL] |- | style="background:white; color:black;" align="left" | [http://mobsya.org mobsya] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [http://aseba.wikidot.com/local--files/thymiohardwaresource/thymioII_3D_ProE_110324.zip ProE] |- | style="background:white; color:black;" align="left" | [http://aseba.wikidot.com/local--files/thymiohardwaresource/thymioII_3D_step_110324.zip STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [http://aseba.wikidot.com/local--files/thymiohardwaresource/Thymio2-Electronics.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] |- |} [[Thymio II|Thymio II]]: [https://aseba.wikidot.com/thymiohardwaresource Build a Thymio II] __TOC__ = Robot Summary = [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Author: [http://mobots.epfl.ch/ EPFL-Mobots] and [http://www.ecal.ch ECAL] and [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Hardware: [http://aseba.wikidot.com/thymiohardwaresource CAD files and electronics schematics] * Software: [http://aseba.wikidot.com/thymiosourcecode Source code] [[Image:ThymioII.jpg|400px|thumb|center|Figure 1: Thymio II]] = Overview = The Thymio II is an affordable educational robot. It provides three main features: * a large amount of sensors and actuators, * a specific interactivity based on light and touch, aimed at increasing the understanding of the robot functionalities, * a very efficient [https://aseba.wikidot.com/en:thymioprogram programming] environment based on [http://aseba.wikidot.com Aseba]. 543 2012-02-03T09:27:34Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://mobots.epfl.ch/ EPFL-Mobots] |- | style="background:white; color:black;" align="left" | [http://www.ecal.ch ECAL] |- | style="background:white; color:black;" align="left" | [http://mobsya.org mobsya] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [http://aseba.wikidot.com/local--files/thymiohardwaresource/thymioII_3D_ProE_110324.zip ProE] |- | style="background:white; color:black;" align="left" | [http://aseba.wikidot.com/local--files/thymiohardwaresource/thymioII_3D_step_110324.zip STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [http://aseba.wikidot.com/local--files/thymiohardwaresource/Thymio2-Electronics.pdf PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] |- |} [[Thymio II|Thymio II]]: [https://aseba.wikidot.com/thymiohardwaresource Build a Thymio II] __TOC__ = Robot Summary = [http://aseba.wikidot.com/en:thymio Thymio II] is a low-cost (100 CHF) open-hardware educational robot running the [http://aseba.wikidot.com Aseba] open-source programming environment. * Author: [http://mobots.epfl.ch/ EPFL-Mobots] and [http://www.ecal.ch ECAL] and [http://mobsya.org mobsya] * License: [http://creativecommons.org/licenses/by-sa/3.0/ Creative Commons BY SA 3.0] * Hardware: [http://aseba.wikidot.com/thymiohardwaresource CAD files and electronics schematics] * Software: [http://aseba.wikidot.com/thymiosourcecode Source code] [[Image:ThymioII.jpg|400px|thumb|center|Figure 1: Thymio II]] = Overview = The Thymio II is an affordable educational robot. It provides three main features: * a large amount of sensors and actuators, * a specific interactivity based on light and touch, aimed at increasing the understanding of the robot functionalities, * a very efficient [https://aseba.wikidot.com/en:thymioprogram programming] environment based on [http://aseba.wikidot.com Aseba]. 68 421 2011-12-06T16:37:35Z P.M.G. Metsemakers 2 Created page with "{| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey..." {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.willowgarage.com/ Willow Garage] |- | style="background:white; color:black;" align="left" | [http://turtlebot.com/support/ Support] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Documents''' |- | style="background:white; color:black;" align="left" | [http://pr.willowgarage.com/downloads/turtlebot/TurtleBot%20Hardware-2011-06-22.zip Download |- |} [[TurtleBot|TurtleBot]]: [http://turtlebot.com/build/ Build a TurtleBot] __TOC__ = Robot Summary = TurtleBot is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Repository: [http://turtlebot.com/build/create.htm http://turtlebot.com/build/create.html] * Software: [http://ros.org/wiki/Robots/TurtleBot http://ros.org/wiki/Robots/TurtleBot] __TOC__ [[Image:TurtleBot_BIG.jpg|400px|thumb|center|Figure 1: TurtleBot]] = Overview = === Kinect Hacks to Go === The TurtleBot gives a new dimension of possibilities to your Kinect hacking: the ability to drive. TurtleBot can explore your house on its own, build 3D pictures, bring you food, take panoramas, and more. === Ready to Innovate === TurtleBot comes with an open-source SDK based on [http://www.ros.org/wiki/ ROS] to help you develop applications right out of the box. The [http://ros.org/wiki/Robots/TurtleBot TurtleBot SDK] integrates all the software you need to get TurtleBot running and comes with advanced capabilities like mapping and navigation. === Less is More === TurtleBot comes with the best low-cost hardware components to give you a capable, autonomous platform for developing robot applications. The iRobot Create, Kinect, netbook, and gyro are all integrated together to get the most out of each. Multiple mounting locations let you customize TurtleBot to your own needs. === Open Source, Open Community === The TurtleBot lets you tap into the creativity and support of the ROS Community. Find out more at [http://turtlebot.com/build/order.html TurtleBot.com]. Thanks to this community, there are thousands of software packages for robotics you can use with ROS. You can tap into powerful computer vision libraries like [http://www.ros.org/wiki/vision_opencv OpenCV] and [http://www.ros.org/wiki/perception_pcl PCL], find [http://www.ros.org/wiki/Sensors drivers] for hardware add-ons, and test advanced research algorithms. = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|MOEjL8JDvd0}}</div> = License = TurtleBot is an open source hardware project as described by the [http://freedomdefined.org/OSHW Open Source Hardware Statement of Principles and Definition v1.0]. It is released under the [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD Documentation License]. See the [http://turtlebot.com/build/ documentation] page to download the designs. 423 2011-12-06T16:39:31Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.willowgarage.com/ Willow Garage] |- | style="background:white; color:black;" align="left" | [http://turtlebot.com/support/ Support] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Documents''' |- | style="background:white; color:black;" align="left" | [http://pr.willowgarage.com/downloads/turtlebot/TurtleBot%20Hardware-2011-06-22.zip Download] |- |} [[TurtleBot|TurtleBot]]: [http://turtlebot.com/build/ Build a TurtleBot] __TOC__ = Robot Summary = TurtleBot is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Repository: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] * Software: [http://ros.org/wiki/Robots/TurtleBot http://ros.org/wiki/Robots/TurtleBot] __TOC__ [[Image:TurtleBot_BIG.jpg|400px|thumb|center|Figure 1: TurtleBot]] = Overview = === Kinect Hacks to Go === The TurtleBot gives a new dimension of possibilities to your Kinect hacking: the ability to drive. TurtleBot can explore your house on its own, build 3D pictures, bring you food, take panoramas, and more. === Ready to Innovate === TurtleBot comes with an open-source SDK based on [http://www.ros.org/wiki/ ROS] to help you develop applications right out of the box. The [http://ros.org/wiki/Robots/TurtleBot TurtleBot SDK] integrates all the software you need to get TurtleBot running and comes with advanced capabilities like mapping and navigation. === Less is More === TurtleBot comes with the best low-cost hardware components to give you a capable, autonomous platform for developing robot applications. The iRobot Create, Kinect, netbook, and gyro are all integrated together to get the most out of each. Multiple mounting locations let you customize TurtleBot to your own needs. === Open Source, Open Community === The TurtleBot lets you tap into the creativity and support of the ROS Community. Find out more at [http://turtlebot.com/build/order.html TurtleBot.com]. Thanks to this community, there are thousands of software packages for robotics you can use with ROS. You can tap into powerful computer vision libraries like [http://www.ros.org/wiki/vision_opencv OpenCV] and [http://www.ros.org/wiki/perception_pcl PCL], find [http://www.ros.org/wiki/Sensors drivers] for hardware add-ons, and test advanced research algorithms. = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|MOEjL8JDvd0}}</div> = License = TurtleBot is an open source hardware project as described by the [http://freedomdefined.org/OSHW Open Source Hardware Statement of Principles and Definition v1.0]. It is released under the [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD Documentation License]. See the [http://turtlebot.com/build/ documentation] page to download the designs. 424 2011-12-06T16:40:17Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.willowgarage.com/ Willow Garage] |- | style="background:white; color:black;" align="left" | [http://turtlebot.com/support/ Support] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Documents''' |- | style="background:white; color:black;" align="left" | [http://pr.willowgarage.com/downloads/turtlebot/TurtleBot%20Hardware-2011-06-22.zip Download] |- |} [[TurtleBot|TurtleBot]]: [http://www.turtlebot.com/ Build a TurtleBot] __TOC__ = Robot Summary = TurtleBot is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Repository: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] * Software: [http://ros.org/wiki/Robots/TurtleBot http://ros.org/wiki/Robots/TurtleBot] __TOC__ [[Image:TurtleBot_BIG.jpg|400px|thumb|center|Figure 1: TurtleBot]] = Overview = === Kinect Hacks to Go === The TurtleBot gives a new dimension of possibilities to your Kinect hacking: the ability to drive. TurtleBot can explore your house on its own, build 3D pictures, bring you food, take panoramas, and more. === Ready to Innovate === TurtleBot comes with an open-source SDK based on [http://www.ros.org/wiki/ ROS] to help you develop applications right out of the box. The [http://ros.org/wiki/Robots/TurtleBot TurtleBot SDK] integrates all the software you need to get TurtleBot running and comes with advanced capabilities like mapping and navigation. === Less is More === TurtleBot comes with the best low-cost hardware components to give you a capable, autonomous platform for developing robot applications. The iRobot Create, Kinect, netbook, and gyro are all integrated together to get the most out of each. Multiple mounting locations let you customize TurtleBot to your own needs. === Open Source, Open Community === The TurtleBot lets you tap into the creativity and support of the ROS Community. Find out more at [http://turtlebot.com/build/order.html TurtleBot.com]. Thanks to this community, there are thousands of software packages for robotics you can use with ROS. You can tap into powerful computer vision libraries like [http://www.ros.org/wiki/vision_opencv OpenCV] and [http://www.ros.org/wiki/perception_pcl PCL], find [http://www.ros.org/wiki/Sensors drivers] for hardware add-ons, and test advanced research algorithms. = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|MOEjL8JDvd0}}</div> = License = TurtleBot is an open source hardware project as described by the [http://freedomdefined.org/OSHW Open Source Hardware Statement of Principles and Definition v1.0]. It is released under the [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD Documentation License]. See the [http://turtlebot.com/build/ documentation] page to download the designs. 425 2011-12-06T17:00:55Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.willowgarage.com/ Willow Garage] |- | style="background:white; color:black;" align="left" | [http://turtlebot.com/support/ Support] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Documents''' |- | style="background:white; color:black;" align="left" | [http://pr.willowgarage.com/downloads/turtlebot/TurtleBot%20Hardware-2011-06-22.zip Download] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] |- | style="background:white; color:black;" align="left" | [http://freedomdefined.org/OSHW OSHW] |- |} [[TurtleBot|TurtleBot]]: [http://www.turtlebot.com/ Build a TurtleBot] __TOC__ = Robot Summary = TurtleBot is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Repository: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] * Software: [http://ros.org/wiki/Robots/TurtleBot http://ros.org/wiki/Robots/TurtleBot] __TOC__ [[Image:TurtleBot_BIG.jpg|400px|thumb|center|Figure 1: TurtleBot]] = Overview = === Kinect Hacks to Go === The TurtleBot gives a new dimension of possibilities to your Kinect hacking: the ability to drive. TurtleBot can explore your house on its own, build 3D pictures, bring you food, take panoramas, and more. === Ready to Innovate === TurtleBot comes with an open-source SDK based on [http://www.ros.org/wiki/ ROS] to help you develop applications right out of the box. The [http://ros.org/wiki/Robots/TurtleBot TurtleBot SDK] integrates all the software you need to get TurtleBot running and comes with advanced capabilities like mapping and navigation. === Less is More === TurtleBot comes with the best low-cost hardware components to give you a capable, autonomous platform for developing robot applications. The iRobot Create, Kinect, netbook, and gyro are all integrated together to get the most out of each. Multiple mounting locations let you customize TurtleBot to your own needs. === Open Source, Open Community === The TurtleBot lets you tap into the creativity and support of the ROS Community. Find out more at [http://turtlebot.com/build/order.html TurtleBot.com]. Thanks to this community, there are thousands of software packages for robotics you can use with ROS. You can tap into powerful computer vision libraries like [http://www.ros.org/wiki/vision_opencv OpenCV] and [http://www.ros.org/wiki/perception_pcl PCL], find [http://www.ros.org/wiki/Sensors drivers] for hardware add-ons, and test advanced research algorithms. = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|MOEjL8JDvd0}}</div> = License = TurtleBot is an open source hardware project as described by the [http://freedomdefined.org/OSHW Open Source Hardware Statement of Principles and Definition v1.0]. It is released under the [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD Documentation License]. See the [http://turtlebot.com/build/ documentation] page to download the designs. 540 2012-02-03T09:25:37Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.willowgarage.com/ Willow Garage] |- | style="background:white; color:black;" align="left" | [http://turtlebot.com/support/ Support] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Documents''' |- | style="background:white; color:black;" align="left" | [http://pr.willowgarage.com/downloads/turtlebot/TurtleBot%20Hardware-2011-06-22.zip Download] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] |- | style="background:white; color:black;" align="left" | [http://freedomdefined.org/OSHW OSHW] |- |} [[TurtleBot|TurtleBot]]: [http://www.turtlebot.com/ Build a TurtleBot] __TOC__ = Robot Summary = TurtleBot is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Repository: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] * Software: [http://ros.org/wiki/Robots/TurtleBot http://ros.org/wiki/Robots/TurtleBot] [[Image:TurtleBot_BIG.jpg|400px|thumb|center|Figure 1: TurtleBot]] = Overview = === Kinect Hacks to Go === The TurtleBot gives a new dimension of possibilities to your Kinect hacking: the ability to drive. TurtleBot can explore your house on its own, build 3D pictures, bring you food, take panoramas, and more. === Ready to Innovate === TurtleBot comes with an open-source SDK based on [http://www.ros.org/wiki/ ROS] to help you develop applications right out of the box. The [http://ros.org/wiki/Robots/TurtleBot TurtleBot SDK] integrates all the software you need to get TurtleBot running and comes with advanced capabilities like mapping and navigation. === Less is More === TurtleBot comes with the best low-cost hardware components to give you a capable, autonomous platform for developing robot applications. The iRobot Create, Kinect, netbook, and gyro are all integrated together to get the most out of each. Multiple mounting locations let you customize TurtleBot to your own needs. === Open Source, Open Community === The TurtleBot lets you tap into the creativity and support of the ROS Community. Find out more at [http://turtlebot.com/build/order.html TurtleBot.com]. Thanks to this community, there are thousands of software packages for robotics you can use with ROS. You can tap into powerful computer vision libraries like [http://www.ros.org/wiki/vision_opencv OpenCV] and [http://www.ros.org/wiki/perception_pcl PCL], find [http://www.ros.org/wiki/Sensors drivers] for hardware add-ons, and test advanced research algorithms. = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|MOEjL8JDvd0}}</div> = License = TurtleBot is an open source hardware project as described by the [http://freedomdefined.org/OSHW Open Source Hardware Statement of Principles and Definition v1.0]. It is released under the [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD Documentation License]. See the [http://turtlebot.com/build/ documentation] page to download the designs. 541 2012-02-03T09:26:08Z P.M.G. Metsemakers 2 {| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.willowgarage.com/ Willow Garage] |- | style="background:white; color:black;" align="left" | [http://turtlebot.com/support/ Support] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Documents''' |- | style="background:white; color:black;" align="left" | [http://pr.willowgarage.com/downloads/turtlebot/TurtleBot%20Hardware-2011-06-22.zip Download] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] |- | style="background:white; color:black;" align="left" | [http://freedomdefined.org/OSHW OSHW] |- |} [[TurtleBot|TurtleBot]]: [http://www.turtlebot.com/ Build a TurtleBot] __TOC__ = Robot Summary = TurtleBot is a low-cost, personal robot kit with open-source software. With TurtleBot, you'll be able to build a robot that can drive around your house, see in 3D, and have enough horsepower to create exciting applications. * Author: [http://www.willowgarage.com/ Willow Garage] * License: [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD] * Repository: [http://www.turtlebot.com/build/ http://www.turtlebot.com/build/] * Software: [http://ros.org/wiki/Robots/TurtleBot http://ros.org/wiki/Robots/TurtleBot] [[Image:TurtleBot_BIG.jpg|400px|thumb|center|Figure 1: TurtleBot]] = Overview = === Kinect Hacks to Go === The TurtleBot gives a new dimension of possibilities to your Kinect hacking: the ability to drive. TurtleBot can explore your house on its own, build 3D pictures, bring you food, take panoramas, and more. === Ready to Innovate === TurtleBot comes with an open-source SDK based on [http://www.ros.org/wiki/ ROS] to help you develop applications right out of the box. The [http://ros.org/wiki/Robots/TurtleBot TurtleBot SDK] integrates all the software you need to get TurtleBot running and comes with advanced capabilities like mapping and navigation. === Less is More === TurtleBot comes with the best low-cost hardware components to give you a capable, autonomous platform for developing robot applications. The iRobot Create, Kinect, netbook, and gyro are all integrated together to get the most out of each. Multiple mounting locations let you customize TurtleBot to your own needs. === Open Source, Open Community === The TurtleBot lets you tap into the creativity and support of the ROS Community. Find out more at [http://turtlebot.com/build/order.html TurtleBot.com]. Thanks to this community, there are thousands of software packages for robotics you can use with ROS. You can tap into powerful computer vision libraries like [http://www.ros.org/wiki/vision_opencv OpenCV] and [http://www.ros.org/wiki/perception_pcl PCL], find [http://www.ros.org/wiki/Sensors drivers] for hardware add-ons, and test advanced research algorithms. = Video = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|MOEjL8JDvd0}}</div> = License = TurtleBot is an open source hardware project as described by the [http://freedomdefined.org/OSHW Open Source Hardware Statement of Principles and Definition v1.0]. It is released under the [http://www.freebsd.org/copyright/freebsd-doc-license.html FreeBSD Documentation License]. See the [http://turtlebot.com/build/ documentation] page to download the designs. 179 750 2013-02-27T14:44:42Z P.M.G. Metsemakers 2 Creating user page with biography of new user. Project Manager TURTLE-5k 66 418 2011-12-06T16:08:09Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 101 504 2012-01-05T11:04:17Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 183 756 2013-08-08T12:36:21Z P.M.G. Metsemakers 2 Creating user page with biography of new user. I am an egyptian engineer 55 398 2011-12-02T13:17:12Z P.M.G. Metsemakers 2 Creating user page with biography of new user. If I want to introduce myself in only one sentence, I should say that I am a robot lover! I'm a Mechanical Engineer with a background in Electrical Engineering. My professional interest lies in Mechatronics and most specifically Mobile Robotics. My B.Sc. thesis was "Using novel Triangular Tracked Wheel (TTW) locomotion mechanism in rescue robots". This project funded about 400,000 US$ and it won 2nd place award of best student projects at ISME 2009. In this project we designed and built 5 different types of TTW based robots within the 5 years. During my education I collaborated with industry in several robotics projects as my part time jobs. Also, I have been a member of robotics teams of the university in several RoboCup competitions including: * Middle Size League: 2004 * Rescue Robot League: 2006, 2007, 2008, 2009, 2010, 2011 ---------------------------------------------------------------------------------------- Research Experience and Interests: * Mechanical Engineering: - Locomotion Mechanism: designing 10 advanced mobility robots - Manipulator: designing 3 different manipulators - Machine Element Design: designing experience since 2003 - Manufacturing: hands on universal machinery since 2002 * Mechatronic Engineering - System Design: designing hardware/software layers of several mobile robots - Advanced Sensors: stereo vision, RGBD sensor, scanning Laser Range Finder, ultrasonic and infrared rangers, Inertial Measurement Unit, gyro, GPS, thermal imaging camera - Human Robot Interfaces: using Head Mounted Display for mobile manipulation * Test Methods - Construction and application of a variety of standard test methods for advanced mobility, autonomous exploration, map evaluation and user interface * Management: - Project Management: Team leader of AriAnA rescue robot team in 2008-2011 time frame 193 766 2013-11-15T21:10:42Z Tmhafkamp 53 Creating user page with biography of new user. I am a software developer. I like C/C++ programming language. My hobby to work with Robotics and AI. 103 506 2012-01-05T11:04:21Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 59 410 2011-12-02T17:32:13Z P.M.G. Metsemakers 2 Creating user page with biography of new user. I am a roboticist, I am active at ROS and Player/Project communities. You can find more about my activities at www.mobotica.com. 93 461 2011-12-16T17:42:20Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 50 348 2011-11-30T15:25:20Z Fruitcake 1 Creating user page with biography of new user. 112 529 2012-01-31T09:57:51Z P.M.G. Metsemakers 2 Creating user page with biography of new user. I live in Brazil and I a Mechanical designer from a company that manufactures MDF. we are trying to deploy robots in manufacturing. And I'm looking for more information on the subject, to develop a more sustainable project. 206 859 2014-03-19T10:10:10Z Tmhafkamp 53 Creating user page with biography of new user. Nubot,China 257 1015 2014-10-25T12:18:49Z Tmhafkamp 53 Creating user page with biography of new user. I am a postgraduate,and want to built a AMIGO.I am so grateful to get some help from you. 191 764 2013-11-15T21:05:21Z Tmhafkamp 53 Creating user page with biography of new user. 63 414 2011-12-06T09:29:58Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 259 1017 2016-01-04T09:19:01Z Tmhafkamp 53 Creating user page with biography of new user. I am working in Robotics company in China. our company focus on Robot/IOT related things. I have a dream that I can make a real smart Robot! 57 400 2011-12-02T13:17:33Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 132 564 2012-04-18T09:22:02Z P.M.G. Metsemakers 2 Creating user page with biography of new user. The Mogale Business Park (MBP) is home to the Bosasa Group head offices. This park has many striking attributes that complement our work ethos perfectly. It’s a BEE initiative that’s also socially and environmentally responsible. 83 446 2011-12-10T10:09:26Z P.M.G. Metsemakers 2 Creating user page with biography of new user. the best 87 450 2011-12-10T10:10:20Z P.M.G. Metsemakers 2 Creating user page with biography of new user. Electrical engineer - working as hardware and software engineer - always interested in all kinds of robots. 71 428 2011-12-06T18:50:08Z P.M.G. Metsemakers 2 Creating user page with biography of new user. reeds enkele jaren experimenteel bezig om 6axis one arm cnc milling te ontwerpen echter de aansturing en vertaalslag maken naar gcode moeilijk voor mij opleiding mbo electronic nu bezig met hoge sterkte betonnen behuizing met alleen maar graniet ( geen resonantie en temperatuur problemen ) en lange staalvezel en minimale wapening een linieare portaal cnc machine ( 1,5 x 1 mtr werkoppervlak ) 5 assen wil graag gegevens uitwisselen mits ik er ook wat van kan leren. man ; leeftijd 58 jaar ; getrouwd ; 2 kinderen ; werkzaam als adviseur toepassingen chemie in beton. 107 519 2012-01-19T20:13:01Z P.M.G. Metsemakers 2 Creating user page with biography of new user. Just a professor, wandering around operating systems for real time applications... 122 550 2012-02-20T11:51:35Z P.M.G. Metsemakers 2 Creating user page with biography of new user. ... 89 452 2011-12-10T10:10:41Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 61 412 2011-12-04T11:31:58Z P.M.G. Metsemakers 2 Creating user page with biography of new user. I am a Robot enthusiast who had worked with different research groups working on Robotics. I currently hold a Masters Degree in Robotics from University of Genova, Italy, and 3 years' research experience in Department of Mechanics and Robotics, University of Duisburg Essen, Germany. I am currently setting a ROBOTICS LAB at Khalifa University of Science, Technology and Research, where I am employed as a Lab Engineer/Researcher. I have worked in the human perception for high speed motions. I have employed Serial Manipulators as flight simulators and Roller coaster simulators unlike conventional parallel platforms such as stewart platform. I have a passion to make things related to Robotics as open source. 271 1030 2016-06-20T10:50:22Z Tmhafkamp 53 Creating user page with biography of new user. 212 867 2014-05-22T11:58:33Z Tmhafkamp 53 Creating user page with biography of new user. Initiator together with TU/e of TURTLE-5k project. 79 439 2011-12-09T08:18:54Z P.M.G. Metsemakers 2 Creating user page with biography of new user. lector at Ghent University College. teaches digital systems, microcontrollers and ICT 134 566 2012-05-17T16:23:39Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 73 431 2011-12-07T08:45:03Z P.M.G. Metsemakers 2 Creating user page with biography of new user. Heico Sandee (1978) obtained his PhD degree in Control Systems at the Eindhoven University of Technology, on the subject of Event-Driven Control. After having worked for four years as a mechatronic system developer at Océ Technologies, he is now working as program manager at the faculty of Mechanical Engineering of the TU/e in the inspiring field of robotics. Heico’s personal interests are music, sports and robotics (www.teamdare.nl). 105 517 2012-01-19T20:12:42Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 210 865 2014-05-12T19:51:00Z Tmhafkamp 53 Creating user page with biography of new user. 69 426 2011-12-06T18:49:58Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 169 699 2012-11-14T21:49:27Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 130 560 2012-04-03T11:02:00Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 562 2012-04-03T16:56:34Z Ishamehta 40 [http://www.sarkarinaukriblog.org/ Government Recruitment] 140 572 2012-08-10T23:50:33Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 189 762 2013-11-15T20:58:50Z Tmhafkamp 53 Creating user page with biography of new user. 279 1092 2022-08-11T12:24:23Z Fruitcake 1 Creating user page with biography of new user. 118 545 2012-02-07T12:19:49Z P.M.G. Metsemakers 2 Creating user page with biography of new user. Jose Cotton works with a foreign currency exchange provider for over 10 years and also contributes his articles on international money transfers in different magazines. 547 2012-02-07T12:31:46Z Josecotton 34 Jose Cotton is [http://www.edocr.com/doc/23943/credentials-non-bank-forex-expert-really-need-be-examined-you-take-its-services Forex Agent] and works with a foreign currency exchange provider for over 10 years and also contributes his articles on international money transfers in different magazines. 171 701 2012-11-14T21:50:07Z P.M.G. Metsemakers 2 Creating user page with biography of new user. I'm a PhD student at University of Technology Sydney. My research interests are Human Robotic Interactions (HRI) and Personal robotics. 120 548 2012-02-20T11:51:19Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 552 2012-02-20T11:59:53Z Leroypayne 35 [http://www.bosasa.com/Contact_South_Africa-Gauteng.html Bosasa] 263 1021 2016-01-04T09:19:24Z Tmhafkamp 53 Creating user page with biography of new user. Studied mechatronics and artifical intelligence, joined TechUnited in 2011, participated in RoboCup since 2012 and RoboCup@Home Technical Committee since 2014. 136 568 2012-06-06T07:57:40Z P.M.G. Metsemakers 2 Creating user page with biography of new user. I'm a roboticist from Mexico. I'm a former member of the PUMAS team in the RoboCup @Home. I work on Motion planning & perception. I love this project/website... :) 99 502 2011-12-29T18:44:25Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 265 1023 2016-01-04T09:19:39Z Tmhafkamp 53 Creating user page with biography of new user. Currently I am the head of Digital Cedar members board and a senior Software Developer with more than 25 years experience. Digital Cedar is non profit organization promote latest advanced high-technology innovation including Robotics and AI. 200 808 2014-03-13T19:14:35Z Tmhafkamp 53 Creating user page with biography of new user. i am a student of b.tech in punjab technical univercity,india. 128 558 2012-03-30T08:47:01Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 53 396 2011-12-02T13:16:19Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 185 758 2013-09-10T08:22:52Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 181 754 2013-04-14T13:51:18Z P.M.G. Metsemakers 2 Creating user page with biography of new user. R+D Industrial Engineer 253 1011 2014-09-28T11:19:01Z Tmhafkamp 53 Creating user page with biography of new user. During/after studying mechanical engineering and business administration I have worked 7 years in the high-tech sector of Eindhoven. During that period I found it interesting to coach and train new young people, that is why I shifted to a job in education at Avans University of Applied Sciences. My experience consists of three main pillars; system development, process development and business research. In these fields I have extensive experience in the high-tech industry. System development: Architecture of mechanical concepts of systems and machines for the high-tech industry. Main focus is on thermal design, connectivity, FEM analysis, EMC, Shock and Vibration. Process development: Architecture of new processes and improving existing processes. Processes within main scope of innovations are system assembly and cleanroom assembly. Business research: Applied research in the development of value propositions of high-tech industrial products and services. Specialties: Mechanical system architecture, System Assembly Process development 124 553 2012-02-28T17:45:58Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 555 2012-02-29T16:56:05Z Rajdatta 37 [http://www.eduhub.in/ Government Jobs India] 208 861 2014-03-25T21:02:54Z Tmhafkamp 53 Creating user page with biography of new user. 81 441 2011-12-09T08:20:07Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 267 1025 2016-01-04T09:19:58Z Tmhafkamp 53 Creating user page with biography of new user. 261 1019 2016-01-04T09:19:09Z Tmhafkamp 53 Creating user page with biography of new user. a student in U.S. 91 459 2011-12-13T18:13:39Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 85 448 2011-12-10T10:10:01Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 114 531 2012-02-02T21:17:07Z P.M.G. Metsemakers 2 Creating user page with biography of new user. Please see http://stephane.magnenat.net 255 1013 2014-10-11T09:50:56Z Tmhafkamp 53 Creating user page with biography of new user. http://www.uni-kassel.de/go/vs_stephan-opfer/ 142 579 2012-09-04T12:24:20Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 251 1007 2014-09-03T15:13:55Z Tmhafkamp 53 Creating user page with biography of new user. Postdoctoral Research Fellow 75 433 2011-12-07T08:46:15Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 249 1002 2014-08-25T10:48:50Z Tmhafkamp 53 Creating user page with biography of new user. Professor at UFPB in Brazil 97 500 2011-12-23T18:34:10Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 187 760 2013-11-14T13:02:42Z Fruitcake 1 Creating user page with biography of new user. Webmaster ROP 269 1027 2016-05-11T11:26:56Z Tmhafkamp 53 Creating user page with biography of new user. I have studied Electrical Engineering at TU/e and graduated in 1992. Started working at Philips Center for Industrial Technology in the mechatronics group on all sorts of fun projects. Led pre-development of ASML Twinscan system from 1995 to 2000. Got involved in Robocup MSL at the end of 1999, having been asked by Thom Warmerdam and after having visited the University of Amsterdam and the Clockwork Orange team. Called ourselves Philips Cyber Football team and paritipated in tournaments from 2002 till 2008. Worked for Philips as expat in US from 2002 till 2008, and joined FEI, later VDL Enabling Technologies Group. Picked up Robocup MSL again with support from VDL ETG and other sponsors, basically restarting the Philips Cyber Football team under the new name of Robot Sports. 1029 2016-05-11T12:43:20Z Tpb 72 Studied Electrical Engineering at TU/e and graduated in 1992. Started working at Philips Center for Industrial Technology in the mechatronics group on all sorts of fun projects. Led pre-development of ASML Twinscan reticle and wafer stages from 1995 to 2000 at Philips CFT. Got involved in Robocup MSL at the end of 1999, having been asked by Thom Warmerdam and after having visited the University of Amsterdam and the Clockwork Orange team. We called ourselves the Philips Cyber Football team and paritipated in tournaments from 2002 till 2008. Worked for Philips as expat in US from 2002 till 2008, joined FEI after returning to The Netherlands, and in March 2010 joined VDL Enabling Technologies Group which is my current employer. Picked up Robocup MSL again with support from VDL ETG and other sponsors, basically restarting the Philips Cyber Football team under the new name of Robot Sports. Was appointed fellow for the High Tech Systems Center at TU/e in October 2015. 110 527 2012-01-30T09:23:53Z P.M.G. Metsemakers 2 Creating user page with biography of new user. Tyson Weeks is a property dealer helps to find Abu Dhabi Real Estate and variety of property in Abu Dhabi with Property Shop Investment. 138 570 2012-08-10T23:50:19Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 15 year old VWO Gymnasium student, who is very interested in robotics and currently learning C (and C++) programming. I hope to be able to obtain a humanoid robot like the NAO, since I am already enrolled into the developer program, I only need €4000 to make that happen. Also I would like to build my own (or just copy an existing) robot. 126 556 2012-03-30T08:45:14Z P.M.G. Metsemakers 2 Creating user page with biography of new user. 180 751 2013-02-27T14:44:42Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 15:44, 27 February 2013 (CET) 67 419 2011-12-06T16:08:10Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 17:08, 6 December 2011 (CET) 102 505 2012-01-05T11:04:17Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 12:04, 5 January 2012 (CET) 184 757 2013-08-08T12:36:21Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 14:36, 8 August 2013 (CEST) 56 399 2011-12-02T13:17:12Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 14:17, 2 December 2011 (CET) 194 767 2013-11-15T21:10:42Z Tmhafkamp 53 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:Tmhafkamp|Tmhafkamp]] 22:10, 15 November 2013 (CET) 104 507 2012-01-05T11:04:21Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 12:04, 5 January 2012 (CET) 60 411 2011-12-02T17:32:13Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 18:32, 2 December 2011 (CET) 94 462 2011-12-16T17:42:20Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 18:42, 16 December 2011 (CET) 51 349 2011-11-30T15:25:20Z Fruitcake 1 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:Fruitcake|Fruitcake]] 16:25, 30 November 2011 (CET) 113 530 2012-01-31T09:57:51Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 10:57, 31 January 2012 (CET) 207 860 2014-03-19T10:10:10Z Tmhafkamp 53 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:Tmhafkamp|Tmhafkamp]] 11:10, 19 March 2014 (CET) 258 1016 2014-10-25T12:18:49Z Tmhafkamp 53 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:Tmhafkamp|Tmhafkamp]] 14:18, 25 October 2014 (CEST) 192 765 2013-11-15T21:05:21Z Tmhafkamp 53 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:Tmhafkamp|Tmhafkamp]] 22:05, 15 November 2013 (CET) 64 415 2011-12-06T09:29:59Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 10:29, 6 December 2011 (CET) 260 1018 2016-01-04T09:19:01Z Tmhafkamp 53 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:Tmhafkamp|Tmhafkamp]] 10:19, 4 January 2016 (CET) 58 401 2011-12-02T13:17:33Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 14:17, 2 December 2011 (CET) 133 565 2012-04-18T09:22:03Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 11:22, 18 April 2012 (CEST) 84 447 2011-12-10T10:09:26Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 11:09, 10 December 2011 (CET) 88 451 2011-12-10T10:10:20Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 11:10, 10 December 2011 (CET) 72 429 2011-12-06T18:50:08Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 19:50, 6 December 2011 (CET) 108 520 2012-01-19T20:13:01Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 21:13, 19 January 2012 (CET) 123 551 2012-02-20T11:51:35Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 12:51, 20 February 2012 (CET) 90 453 2011-12-10T10:10:41Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 11:10, 10 December 2011 (CET) 62 413 2011-12-04T11:31:58Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 12:31, 4 December 2011 (CET) 272 1031 2016-06-20T10:50:24Z Tmhafkamp 53 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:Tmhafkamp|Tmhafkamp]] 12:50, 20 June 2016 (CEST) 213 868 2014-05-22T11:58:33Z Tmhafkamp 53 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:Tmhafkamp|Tmhafkamp]] 13:58, 22 May 2014 (CEST) 80 440 2011-12-09T08:18:54Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 09:18, 9 December 2011 (CET) 135 567 2012-05-17T16:23:39Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 18:23, 17 May 2012 (CEST) 74 432 2011-12-07T08:45:03Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 09:45, 7 December 2011 (CET) 106 518 2012-01-19T20:12:42Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 21:12, 19 January 2012 (CET) 211 866 2014-05-12T19:51:00Z Tmhafkamp 53 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:Tmhafkamp|Tmhafkamp]] 21:51, 12 May 2014 (CEST) 70 427 2011-12-06T18:49:58Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 19:49, 6 December 2011 (CET) 170 700 2012-11-14T21:49:28Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 22:49, 14 November 2012 (CET) 131 561 2012-04-03T11:02:01Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 13:02, 3 April 2012 (CEST) 141 573 2012-08-10T23:50:33Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 01:50, 11 August 2012 (CEST) 190 763 2013-11-15T20:58:51Z Tmhafkamp 53 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:Tmhafkamp|Tmhafkamp]] 21:58, 15 November 2013 (CET) 280 1093 2022-08-11T12:24:23Z Fruitcake 1 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:Fruitcake|Fruitcake]] 14:24, 11 August 2022 (CEST) 119 546 2012-02-07T12:19:50Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 13:19, 7 February 2012 (CET) 172 702 2012-11-14T21:50:07Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 22:50, 14 November 2012 (CET) 121 549 2012-02-20T11:51:20Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 12:51, 20 February 2012 (CET) 264 1022 2016-01-04T09:19:24Z Tmhafkamp 53 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:Tmhafkamp|Tmhafkamp]] 10:19, 4 January 2016 (CET) 137 569 2012-06-06T07:57:40Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 09:57, 6 June 2012 (CEST) 100 503 2011-12-29T18:44:25Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 19:44, 29 December 2011 (CET) 266 1024 2016-01-04T09:19:39Z Tmhafkamp 53 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:Tmhafkamp|Tmhafkamp]] 10:19, 4 January 2016 (CET) 201 809 2014-03-13T19:14:35Z Tmhafkamp 53 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:Tmhafkamp|Tmhafkamp]] 20:14, 13 March 2014 (CET) 129 559 2012-03-30T08:47:02Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 10:47, 30 March 2012 (CEST) 54 397 2011-12-02T13:16:19Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 14:16, 2 December 2011 (CET) 186 759 2013-09-10T08:22:52Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 10:22, 10 September 2013 (CEST) 182 755 2013-04-14T13:51:18Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 15:51, 14 April 2013 (CEST) 254 1012 2014-09-28T11:19:01Z Tmhafkamp 53 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:Tmhafkamp|Tmhafkamp]] 13:19, 28 September 2014 (CEST) 125 554 2012-02-28T17:45:58Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 18:45, 28 February 2012 (CET) 209 862 2014-03-25T21:02:54Z Tmhafkamp 53 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:Tmhafkamp|Tmhafkamp]] 22:02, 25 March 2014 (CET) 82 442 2011-12-09T08:20:07Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 09:20, 9 December 2011 (CET) 268 1026 2016-01-04T09:19:58Z Tmhafkamp 53 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:Tmhafkamp|Tmhafkamp]] 10:19, 4 January 2016 (CET) 262 1020 2016-01-04T09:19:09Z Tmhafkamp 53 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:Tmhafkamp|Tmhafkamp]] 10:19, 4 January 2016 (CET) 92 460 2011-12-13T18:13:39Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 19:13, 13 December 2011 (CET) 86 449 2011-12-10T10:10:01Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 11:10, 10 December 2011 (CET) 115 532 2012-02-02T21:17:07Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 22:17, 2 February 2012 (CET) 256 1014 2014-10-11T09:50:57Z Tmhafkamp 53 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:Tmhafkamp|Tmhafkamp]] 11:50, 11 October 2014 (CEST) 143 580 2012-09-04T12:24:20Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 14:24, 4 September 2012 (CEST) 252 1008 2014-09-03T15:13:55Z Tmhafkamp 53 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:Tmhafkamp|Tmhafkamp]] 17:13, 3 September 2014 (CEST) 76 434 2011-12-07T08:46:15Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 09:46, 7 December 2011 (CET) 250 1003 2014-08-25T10:48:50Z Tmhafkamp 53 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:Tmhafkamp|Tmhafkamp]] 12:48, 25 August 2014 (CEST) 98 501 2011-12-23T18:34:11Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 19:34, 23 December 2011 (CET) 188 761 2013-11-14T13:02:42Z Fruitcake 1 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:Fruitcake|Fruitcake]] 14:02, 14 November 2013 (CET) 270 1028 2016-05-11T11:26:57Z Tmhafkamp 53 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! [[User:Tmhafkamp|Tmhafkamp]] 13:26, 11 May 2016 (CEST) 111 528 2012-01-30T09:23:54Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 10:23, 30 January 2012 (CET) 139 571 2012-08-10T23:50:19Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 01:50, 11 August 2012 (CEST) 127 557 2012-03-30T08:45:14Z P.M.G. Metsemakers 2 Welcome! '''Welcome to ''ROP''!''' We hope you will contribute much and well. You will probably want to read the [[Help:Contents|help pages]]. Again, welcome and have fun! [[User:P.M.G. Metsemakers|P.M.G. Metsemakers]] 10:45, 30 March 2012 (CEST) 52 395 2011-12-02T10:19:24Z P.M.G. Metsemakers 2 Created page with "Robotic Open Platform (ROP) aims to make hardware designs of robots available under an Open Hardware license to the entire robotic community. It provides CAD drawings, electric ..." Robotic Open Platform (ROP) aims to make hardware designs of robots available under an Open Hardware license to the entire robotic community. It provides CAD drawings, electric schemes and the required documentation to build their own robot. In the near future, standard electromechanic interfaces between the various robot components will be presented to enable the possibility to combine hardware components of various groups into one robot. By making the robots modular, users are encouraged to develop their own components that can be shared with the community. In software, the Robot Operating System (ROS) is nowadays acknowledged as a standard software platform and is used by numerous (research) institutions. This open source software is available to everyone and by sharing knowledge with the community there is no need to ‘reinvent the wheel’, hence drastically speeding up development. Similarly, Robotic Open Platform (ROP) functions as a platform to share hardware designs available to all research groups within the community. 96 465 2011-12-19T10:12:12Z Heico 15 Created page with "Any registered user of the Robotic Open Platform wiki can create a page upon this site, which is immediately published without our review. Because of that, we can't be responsibl..." Any registered user of the Robotic Open Platform wiki can create a page upon this site, which is immediately published without our review. Because of that, we can't be responsible for the content of such pages. 95 463 2011-12-19T10:09:49Z Heico 15 Created page with "Except where otherwise noted, the ROS wiki is licensed under [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution 3.0]." Except where otherwise noted, the ROS wiki is licensed under [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution 3.0]. 464 2011-12-19T10:10:34Z Heico 15 Except where otherwise noted, the Robotic Open Platform wiki is licensed under [http://creativecommons.org/licenses/by/3.0/ Creative Commons Attribution 3.0]. 278 1087 2020-06-29T14:27:02Z Whoutman 74 moved [[File:8W metKapenBalUitgeknipt.png]] to [[File:8W realization.png]] #REDIRECT [[File:8W realization.png]] 276 1053 2020-03-25T12:47:38Z Whoutman 74 1084 2020-06-29T14:19:36Z Whoutman 74 uploaded a new version of &quot;[[File:8W metKapenBalUitgeknipt.png]]&quot; 1085 2020-06-29T14:25:05Z Whoutman 74 uploaded a new version of &quot;[[File:8W metKapenBalUitgeknipt.png]]&quot; 1086 2020-06-29T14:27:02Z Whoutman 74 moved [[File:8W metKapenBalUitgeknipt.png]] to [[File:8W realization.png]] 277 1067 2020-03-26T08:40:53Z Whoutman 74 1068 2020-03-26T08:44:45Z Whoutman 74 uploaded a new version of &quot;[[File:8w-BaseView.jpg]]&quot; 274 1051 2020-03-25T11:03:02Z Whoutman 74 32 136 2011-11-23T10:08:49Z P.M.G. Metsemakers 2 244 2011-11-24T15:28:14Z P.M.G. Metsemakers 2 uploaded a new version of &quot;[[File:AMIGO Base ASSEMBLY.jpg]]&quot; 44 334 2011-11-29T14:04:58Z P.M.G. Metsemakers 2 49 347 2011-11-30T14:25:29Z P.M.G. Metsemakers 2 48 346 2011-11-30T14:25:17Z P.M.G. Metsemakers 2 28 119 2011-11-21T14:34:07Z P.M.G. Metsemakers 2 42 329 2011-11-29T12:14:25Z P.M.G. Metsemakers 2 46 338 2011-11-30T09:37:18Z P.M.G. Metsemakers 2 373 2011-12-01T08:48:57Z P.M.G. Metsemakers 2 uploaded a new version of &quot;[[File:AMIGO Exploded View Leg.jpg]]&quot; 379 2011-12-01T09:28:46Z P.M.G. Metsemakers 2 uploaded a new version of &quot;[[File:AMIGO Exploded View Leg.jpg]]&quot; 47 339 2011-11-30T09:45:21Z P.M.G. Metsemakers 2 38 279 2011-11-25T14:45:32Z P.M.G. Metsemakers 2 281 2011-11-25T14:55:14Z P.M.G. Metsemakers 2 uploaded a new version of &quot;[[File:AMIGO Guidance Tube.jpg]]&quot; 35 177 2011-11-23T13:41:13Z P.M.G. Metsemakers 2 33 140 2011-11-23T10:11:51Z P.M.G. Metsemakers 2 27 118 2011-11-21T14:34:01Z P.M.G. Metsemakers 2 41 311 2011-11-29T09:51:35Z P.M.G. Metsemakers 2 26 114 2011-11-21T14:19:18Z P.M.G. Metsemakers 2 115 2011-11-21T14:24:27Z P.M.G. Metsemakers 2 uploaded a new version of &quot;[[File:AMIGO Spindle Exploded View.jpg]]&quot; 29 128 2011-11-22T14:49:16Z P.M.G. Metsemakers 2 454 2011-12-12T14:42:38Z P.M.G. Metsemakers 2 uploaded a new version of &quot;[[File:AMIGO Torso.jpg]]&quot; 78 437 2011-12-08T12:34:00Z P.M.G. Metsemakers 2 77 436 2011-12-08T12:33:50Z P.M.G. Metsemakers 2 20 88 2011-11-21T12:37:02Z P.M.G. Metsemakers 2 455 2011-12-12T14:47:08Z P.M.G. Metsemakers 2 uploaded a new version of &quot;[[File:AMIGO Upper Body.jpg]]&quot; 36 181 2011-11-23T13:50:08Z P.M.G. Metsemakers 2 456 2011-12-12T15:00:24Z P.M.G. Metsemakers 2 uploaded a new version of &quot;[[File:AMIGO Upper Body2.jpg]]&quot; 37 182 2011-11-23T13:50:31Z P.M.G. Metsemakers 2 183 2011-11-23T13:53:14Z P.M.G. Metsemakers 2 uploaded a new version of &quot;[[File:AMIGO Upper Body3.jpg]]&quot; 187 2011-11-23T14:15:16Z P.M.G. Metsemakers 2 uploaded a new version of &quot;[[File:AMIGO Upper Body3.jpg]]&quot; 457 2011-12-12T15:00:39Z P.M.G. Metsemakers 2 uploaded a new version of &quot;[[File:AMIGO Upper Body3.jpg]]&quot; 18 77 2011-11-21T10:54:12Z P.M.G. Metsemakers 2 81 2011-11-21T10:59:23Z P.M.G. Metsemakers 2 uploaded a new version of &quot;[[File:AMIGO left arm.jpg]]&quot; 19 78 2011-11-21T10:54:33Z P.M.G. Metsemakers 2 80 2011-11-21T10:59:12Z P.M.G. Metsemakers 2 uploaded a new version of &quot;[[File:AMIGO right arm.jpg]]&quot; 17 65 2011-11-21T10:30:24Z P.M.G. Metsemakers 2 243 2011-11-24T15:25:47Z P.M.G. Metsemakers 2 uploaded a new version of &quot;[[File:Amigo ASSEMBLY.jpg]]&quot; 30 130 2011-11-23T09:30:29Z P.M.G. Metsemakers 2 15 56 2011-11-09T10:31:07Z P.M.G. Metsemakers 2 204 826 2014-03-16T14:28:38Z Tmhafkamp 53 Bill Of Materials example. Source: NAVFACENGCOM Bill Of Materials example. Source: NAVFACENGCOM 145 584 2012-09-11T18:14:10Z J Bos 45 Illustration of the TURLTE Base Assembly Illustration of the TURLTE Base Assembly 246 970 2014-07-21T12:33:33Z Tmhafkamp 53 Photo of the TURTLE Goalkeeper Photo of the TURTLE Goalkeeper 174 704 2012-12-04T10:24:25Z Inf6UB 47 203 818 2014-03-16T14:11:40Z Tmhafkamp 53 An example Product Breakdown Structure (PBS) showing how a whole product can be progressively broken down into constituent parts. Author: David Morris An example Product Breakdown Structure (PBS) showing how a whole product can be progressively broken down into constituent parts. Author: David Morris 248 993 2014-07-22T10:09:21Z Tmhafkamp 53 205 839 2014-03-16T14:52:03Z Tmhafkamp 53 Account request on ROP screenshot Account request on ROP screenshot 244 957 2014-07-15T11:51:08Z Tmhafkamp 53 Render Render 218 893 2014-07-09T09:17:29Z Tmhafkamp 53 TURTLE-5K TURTLE-5K 227 907 2014-07-09T09:28:06Z Tmhafkamp 53 228 908 2014-07-09T09:28:20Z Tmhafkamp 53 229 909 2014-07-09T09:28:32Z Tmhafkamp 53 230 910 2014-07-09T09:28:46Z Tmhafkamp 53 231 911 2014-07-09T09:29:05Z Tmhafkamp 53 232 912 2014-07-09T09:29:19Z Tmhafkamp 53 233 913 2014-07-09T09:29:36Z Tmhafkamp 53 234 914 2014-07-09T09:29:48Z Tmhafkamp 53 235 915 2014-07-09T09:29:59Z Tmhafkamp 53 219 896 2014-07-09T09:21:56Z Tmhafkamp 53 220 899 2014-07-09T09:23:48Z Tmhafkamp 53 221 900 2014-07-09T09:24:09Z Tmhafkamp 53 223 902 2014-07-09T09:25:16Z Tmhafkamp 53 224 903 2014-07-09T09:25:36Z Tmhafkamp 53 225 904 2014-07-09T09:25:53Z Tmhafkamp 53 222 901 2014-07-09T09:24:58Z Tmhafkamp 53 226 906 2014-07-09T09:27:53Z Tmhafkamp 53 176 733 2013-02-26T08:30:32Z P.M.G. Metsemakers 2 178 737 2013-02-26T08:41:11Z P.M.G. Metsemakers 2 157 600 2012-09-11T19:30:10Z J Bos 45 CAD Assembly of the ball handling and kicking mechanisms, together with frame and corresponding electronics CAD Assembly of the ball handling and kicking mechanisms, together with frame and corresponding electronics 158 601 2012-09-11T19:30:44Z J Bos 45 CAD Exploded viewof the ball handling and kicking mechanisms, together with frame and corresponding electronics CAD Exploded viewof the ball handling and kicking mechanisms, together with frame and corresponding electronics 161 604 2012-09-11T20:01:10Z J Bos 45 CAD Exploded view of the left ball holder CAD Exploded view of the left ball holder 160 603 2012-09-11T19:59:09Z J Bos 45 Exploded view of Capacitor (housing) Exploded view of Capacitor (housing) 247 971 2014-07-21T12:34:03Z Tmhafkamp 53 Render of the TURTLE Goalkeeper, front view Render of the TURTLE Goalkeeper, front view 164 607 2012-09-11T20:11:08Z J Bos 45 CAD Exploded View of the Kicking actuator coil CAD Exploded View of the Kicking actuator coil 165 608 2012-09-11T20:13:41Z J Bos 45 CAD Exploded View of the Kicking Mechanism CAD Exploded View of the Kicking Mechanism 167 686 2012-09-29T16:33:08Z J Bos 45 Assmembly of the omniwheel Assmembly of the omniwheel 168 687 2012-09-29T16:34:05Z J Bos 45 Exploded view of the Turtle's omniwheel Exploded view of the Turtle's omniwheel 163 606 2012-09-11T20:10:38Z J Bos 45 CAD Exploded View of the Plunger CAD Exploded View of the Plunger 149 590 2012-09-11T18:48:08Z J Bos 45 CAD assembly of the front of the Upper Body CAD assembly of the front of the Upper Body 151 592 2012-09-11T18:54:02Z J Bos 45 CAD assembly of the mechanical parts in the upper body of the Turtle CAD assembly of the mechanical parts in the upper body of the Turtle 152 593 2012-09-11T18:54:28Z J Bos 45 CAD Exploded View of the mechanical parts in the upper body of the Turtle CAD Exploded View of the mechanical parts in the upper body of the Turtle 150 591 2012-09-11T18:48:32Z J Bos 45 CAD assembly of the back of the Upper Body CAD assembly of the back of the Upper Body 155 596 2012-09-11T19:03:36Z J Bos 45 Partial exploded view of the upper body with front camera, computer and switches Partial exploded view of the upper body with front camera, computer and switches 153 594 2012-09-11T18:58:16Z J Bos 45 CAD assembly of the Vision Tube of the Turtle CAD assembly of the Vision Tube of the Turtle 154 595 2012-09-11T18:58:36Z J Bos 45 CAD Exploded View of the Vision Tube of the Turtle CAD Exploded View of the Vision Tube of the Turtle 159 602 2012-09-11T19:58:30Z J Bos 45 CAD Exploded view of the ball handling and kicking frame CAD Exploded view of the ball handling and kicking frame 162 605 2012-09-11T20:02:53Z J Bos 45 CAD Exploded View of the ball receiver CAD Exploded View of the ball receiver 116 534 2012-02-02T21:27:13Z Stephane.magnenat 33 Thymio II robot Thymio II robot 195 771 2013-12-31T14:09:06Z Tmhafkamp 53 AMIGO 2 assembly rendering front AMIGO 2 assembly rendering front 196 772 2013-12-31T14:09:28Z Tmhafkamp 53 AMIGO 2 assembly rendering rear AMIGO 2 assembly rendering rear 197 773 2013-12-31T14:09:47Z Tmhafkamp 53 AMIGO 2 assembly rendering sitting front AMIGO 2 assembly rendering sitting front 198 774 2013-12-31T14:09:57Z Tmhafkamp 53 AMIGO 2 assembly rendering sitting rear AMIGO 2 assembly rendering sitting rear 237 949 2014-07-15T11:46:30Z Tmhafkamp 53 Render Render 238 950 2014-07-15T11:46:38Z Tmhafkamp 53 Render Render 239 951 2014-07-15T11:46:47Z Tmhafkamp 53 Render Render 240 952 2014-07-15T11:46:54Z Tmhafkamp 53 Render Render 241 953 2014-07-15T11:47:02Z Tmhafkamp 53 Render Render 242 954 2014-07-15T11:47:10Z Tmhafkamp 53 Render Render 65 416 2011-12-06T15:58:05Z P.M.G. Metsemakers 2 34 150 2011-11-23T12:38:12Z P.M.G. Metsemakers 2 147 586 2012-09-11T18:20:42Z J Bos 45 The electrical components mounted on the Base frame The electrical components mounted on the Base frame 146 585 2012-09-11T18:16:37Z J Bos 45 The mechanical parts in the TURTLE Base assembly The mechanical parts in the TURTLE Base assembly 144 582 2012-09-11T16:48:48Z J Bos 45 The division of the tutle assembly in three smaller dedicated parts The division of the tutle assembly in three smaller dedicated parts 173 703 2012-11-15T14:45:25Z P.M.G. Metsemakers 2 Created page with "'''Welcome to ''{{SITENAME}}''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]...." '''Welcome to ''{{SITENAME}}''!''' We hope you will contribute much and well. You will probably want to read the [http://www.roboticopenplatform.org/contribute contribute page]. Again, welcome and have fun! 216 875 2014-06-25T09:17:09Z Tmhafkamp 53 Created page with "<noinclude>__NOTOC__ This widget allows you to embed a '''[http://developers.facebook.com/docs/reference/plugins/like-box/ Facebook Page Like Box]''' (iframe version) on your wik..." <noinclude>__NOTOC__ This widget allows you to embed a '''[http://developers.facebook.com/docs/reference/plugins/like-box/ Facebook Page Like Box]''' (iframe version) on your wiki page. Created by [http://www.mediawikiwidgets.org/User:Chris_White Chris White] == Using this widget == For information on how to use this widget, see [http://www.mediawikiwidgets.org/Facebook_Like_Box widget description page on MediaWikiWidgets.org]. ==Copy to your site== To use this widget on your site, just install [http://www.mediawiki.org/wiki/Extension:Widgets MediaWiki Widgets extension] and copy [{{fullurl:{{FULLPAGENAME}}|action=edit}} full source code] of this page to your wiki as '''{{PAGENAME}}''' article. </noinclude><includeonly><iframe src="http://www.facebook.com/plugins/likebox.php?href=<!--{$profile}-->&amp;width=<!--{$width|default:300|escape:'urlpathinfo'}-->&amp;colorscheme=<!--{$theme|default:light|escape:'urlpathinfo'}-->&amp;show_faces=<!--{$faces|default:true|escape:'urlpathinfo'|validate:'boolean'}-->&amp;stream=<!--{$stream|default:true|escape:'urlpathinfo'|validate:'boolean'}-->&amp;header=false&amp;height=<!--{$height|default:556|escape:'urlpathinfo'}--><!--{if isset($force_wall)}-->&amp;force_wall=true<!--{/if}--><!--{if isset($border_color)}-->&amp;border_color=<!--{$border_color|escape:'urlpathinfo'}--><!--{/if}-->" scrolling="no" frameborder="0" style="border:none; overflow:hidden; width:<!--{$width|default:300|escape:'html'}-->px; height:<!--{$height|default:556|escape:'html'}-->px" allowTransparency="true"></iframe></includeonly> 214 870 2014-06-24T13:48:45Z Fruitcake 1 Created page with "<noinclude>__NOTOC__ This widget allows you to embed any web page on your wiki page using an iframe tag. Created by [http://www.mediawikiwidgets.org/User:Sergey_Chernyshev Serge..." <noinclude>__NOTOC__ This widget allows you to embed any web page on your wiki page using an iframe tag. Created by [http://www.mediawikiwidgets.org/User:Sergey_Chernyshev Sergey Chernyshev] == Using this widget == For information on how to use this widget, see [http://www.mediawikiwidgets.org/Iframe widget description page on MediaWikiWidgets.org]. <big>'''<font color="red">This widget shouldn't be used on a publicly-editable wiki.</font>'''</big> While the url is validated to be a valid url, there is no way the widget can check the contents of the page that is included. When enabling this widget, you allow any user that can edit to include any page, including malicious pages (containing trojans, backdoors, viruses etc), pages that brake out of the iframe and pages that look like your site, but actually is a copy used for phishing. == Copy to your site == To use this widget on your site, just install [http://www.mediawiki.org/wiki/Extension:Widgets MediaWiki Widgets extension] and copy [{{fullurl:{{FULLPAGENAME}}|action=edit}} full source code] of this page to your wiki as '''{{FULLPAGENAME}}''' article. </noinclude><includeonly><iframe src="<!--{$url|validate:url}-->" frameborder="<!--{$border|validate:int|default:0}-->" width="<!--{$width|escape:html|default:400}-->" height="<!--{$height|escape:html|default:300}-->"></iframe></includeonly>